There's a number of "game" related courses that take this approach. Most of these programs involve going out, and continually approaching and interacting with people, with specific goals in mind.

There's the connection course (This one is probably the closest you're looking for, as he's reworked it to remove all "gamey" stuff, and just focused on social interactions): http://markmanson.net/connection-course

There's the Collection of Confidence: http://www.amazon.com/The-Collection-Of-Confidence-HYPNOTICA/product-reviews/B000NPXWT8

Stylelife academy: http://web.stylelife.com/

Ars Amorata: http://www.zanperrion.com/arsamorata.php

and a whole bunch more.

Edt: in my area at least, there's also practice groups for Non-violent communication on meetup.com