Adam Bryant, writing for the New York Times:
The best kind of listening is about being comfortable not knowing what you’re going to say next, or what question you might ask. Trust that you’ll think of something in the moment based on what the other person just said. That will send a powerful signal to the other person that you’re truly listening to them.
There’s some great tips here. I’m happy to see the link made to using improv as a way of improving listening skills.