Ask HN: how can a devel build communication skills?

One of the mantras I do believe in is that communication is fundamental, as it's basically one of the key elements in human relationships.

I've spent a lot of my time trying to improve it the best I could and see fallacies and problems while trying to overcome this problem.

I'm now in a position where I can see this issue on other people around me, but not being "formally trained" (if you could ever be), I don't know how to help these people improve their skill, improve the ability to express themselves, as in formulating an idea and showing it without getting lost, or keeping down to the point. In other words what I think a scientific mind should work.

So, HN, do you have any enlightening readings that helped you overcome your communication problems or suggestions that you think are worth a thousand?