Din Djarin (about Baby Yoda): Is he speaking? Do you understand him?

Ahsoka Tano: In a way. Grogu and I can feel each other’s thoughts.

Din Djarin: Grogu?

Ahsoka Tano: Yes. That’s his name.

Din Djarin: Grogu.

From The Mandalorian – Season 2 Episode 5: ‘Chapter 13: The Jedi’ (2×05) | Produced by Lucasfilm