My girlfriend lent me her copy of Angelspeake: How to Talk With Your Angels by Barbara Mark one week ago. So far I've read it twice, its about 120 pages, and the results are incredible. The book goes into not only angels but spirit guides and guardian angels as well. And, yes, there are clear and easy instructions on how to talk with your angels. At first I had my doubts, then it just happened naturally.
I cannot recommend this title enough, check it out. You will not regret it.