Episode 5
Oh Nicky, if you can learn to paint; I can learn to walk again.
DBZ episode 193
Philosophy.
Learn his ABCs.
Technically there was no episode where he learned it, but there is a flashback in episode 31
Learn to spell politician, then I will answer
check out episode 88, or the end of 87!!
Season 2 - Episode 19 - The Guru
Air part one or episode 1.01. (first SGU episode)
Yes they do learn
I think that it's episode 157: Destroy Naraku With the Adamant Barrage! I like this episode too.
"Odd Man Out" 2001 Season 6 Episode 2