There is no real learning that needs to be done. It is innate, and usually our default setting. We usually need a safe workshop place to practice and not be judged. The more time we spend outdoors comes in handy while implementing telepathy. There is a lot of unlearning of the conditioned mind that has to be done.
It is important to break free of the preconceived notions of dos and don'ts. A lot of confidence-building is involved to practice this form of communication. Several workshops are designed for this purpose.