The episode "Geek's Bearing Gifts" in Torchwood season one features one of his team members gaining a amulet of mind reading. The amulet allows the team member to read everyone's mind, but they don't seem able to answer back.
Jack however is able to project into the team member's mind and give her direction without anyone else being able to hear them. She is also unable to read his mind and he jokes that his mind is tougher than most. This is the only direct episode we have that explore Jack's telepathic abilities.
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Re: Clarification
Jack however is able to project into the team member's mind and give her direction without anyone else being able to hear them. She is also unable to read his mind and he jokes that his mind is tougher than most. This is the only direct episode we have that explore Jack's telepathic abilities.