Listening is a skill we already have, though for many of us, other things get in the way of using our skill effectively.
What stops you listening effectively?
Are you rehearsing what you want to say next?
Are wishing they would just get on with it?
Are you distorting what they are saying so it fits how you view things?
Are you doing something else at the same time?
If someone does this to you when you are talking, how does that make you feel?
Have a look at this checklist in Alchemy, and notice which ones are true for you, and what you could do about them.
My best wishes, Paul