There are many simple ways to help students listen to each other.
In Circle Time, having each student respond to a simple phrase, such as, "I like it when..." helps others to know more about each other.
In class meetings, having students respond to the previous comment with phrases such as, "I agree with ... because and I'd like to add..." makes the speaker feel validated and develops empathy in the next speaker.
As a class, conduct a Socratic Seminar (heaps of resources here). In this type of discussion, students respond to each other and use their intuition to develop discussions. I find that students who often don't speak up in a public situation, do so in this format.
Conduct Empathy Interviews like the example above about a particular text or issue. Person A interviews Person B and Person C scribes. NOTE: This is not a discussion. It's great for those who don't speak up. It's wonderful if there's time for each person to act in each role.
Finally, allow time for pausing. This gives students time to take everything in and formulate a response (or not).