I taught Buddy how to shake hands. It is still a work in progress.
He is at the stage where he is reaching out and touching me and starting to leave his paw longer and longer or touch me more then just once until he gets his treat.
I got a dog clicker from PetCo and have been rewarding him with a click and a bit of a treat each time he does the action I want and also just when feeding him treats for being good. As he ate the treat I would give a click so he would associate food with click. I started off trying to teach him to extend his paw to touch my hand when I say "Paw" and extend my hand palm up then curl my fingertips and uncurl them. I am not sure how I first got him to do it that very first time except maybe I was poking at his hand till he poked back or had a treat he wanted to touch.. but once he figured out: my hand curl = paw touching my hand = click & treat he is becoming better and better.
Now I am working on getting him to jump up next to me and sit on my chair arm. He did it himself and I thought "this seems good" and gave him a treat for it. Now when he comes back he usually gets a bit of treat and then I follow up with the "paw/shake hands" training. So my goal now is to get him to do it on command so I can then work on his other training. To do this I have started letting him see/smell a bit of treat and show him its above where I want him to be while also patting the area and saying "Up" and "Come Up". He got it once after some coaxing but this was the first day I tried to get him to jump up when I wanted him to so I thought that was pretty good.
The other thing I am trying to teach him to do once in awhile is jump from my chair over to the other chair in the room. He seems to be picking that up too so maybe soon I will have him going through some hoops and have a circus cat!
Training your cat's is very easy as long as they enjoy food or treats as much as Buddy does when hes not full. I bet if I did not "free feed" this would be even easier but I hate the thought of him being hungry all the time.