Nonviolent Communication best thought of as a philosophy of language, and presents a communication technique that encourages compassion and giving from the heart. It centers around how language builds implicit power structures. It’s an all-inclusive framework, but can be borrowed from as useful. The key parts are identifying observations, feelings, needs, and requests.
I got a lot from this book, and it has improved my communication with others significantly. Some ideas feel a bit out there (such as not saying “I love you”, because, according to Rosenberg, it’s largely meaningless), but I’ve incorporated the observations → feelings → needs → requests flow.