There are many psychology classes in kinesics, the study of body language, that could be interesting and informative. Some are even available online, but I think that's a subject probably better in person.

In terms of intent, I do think we all have empathy enough to be able to read that well naturally if we tune into it. It's a matter of learning to center yourself enough to get used to understanding your own thought-voice and your own emotions, then you can differentiate when you feel / "hear" something that's not yours. The psy-gym does have several classes on that, but also there are free guided meditations on YouTube etc. that teach increasing empathy that would also do the trick.