chibiz

If you use your hand then you can read your own aura. If you can see your aura then you can read other auras.

As for your other question, no. there is nothing telepathic about auras. sure auras are related to the psychic mind but not that far. auras are just for telling how one is feeling or the nature of the person/animal. The information can come in handy when you learn the object's aura. just remeber the color meanings. Stay away from the deep reds. they need time and space to cool down or will calm down when they are in their comfort zone.