Chi-sensing is one of those things that were much different than your typical techniques. Vegeta simply learning that it existed and knowing a fellow Saiyan could do it was enough for him to develop the ability. He sucked it at first, but the more he concentrated, the more adapt he became at it.
Kenshi brought up the space warriors. When looking at them and the Earthlings, their entire perspective on power is vastly different from one another. Earthlings are all about training and meditating to build their Chi, sensing and suppressing Chi, while developing techniques. Space warriors like Freeza's forces don't seem to know the concept of Chi. To them, Chi=Battle Power. If you have more Battle Power, you'll likely win. They know that by way of Scouters. That ended up being their biggest downfall because of their simple-minded approach to fighting. Ginyu seemed to be the only one that actually had a smarter approach than all of the others.
Man, King Cold is someone I would've liked to have seen more. He doesn't seem to care about fighting; only his clan maintaining their "strongest" title in the universe.