LOLOLOLOLLLLLLL - Yes you can.
In Mass Effect 1 - (X Biotic) Specialist achievement allowed you to use that ability on a new character.
In Mass Effect 2 - (Advance Training) For characters who's loyalty you've gained you can gain their "loyal ability". Miranda is slam for example.
ME1 yeah I made the mistake and forgot, havent played in awhile. But ME2 you gain Slam for Miranda. But if you are a
Soldier only, you personally do not gain it for you character, only if you are a biotic class. I have played through ME2 a few times and never once gained it as a
soldier and I always do the loyalty missions.