Just a minor correction, but it seems that sensing Ki wasn't passed down from Mutaito. Goku was first able to sense King Piccolo after drinking the Divine Water in Korin's tower, and was taught to sense other's while training on Kami's lookout. The other humans weren't shown as able to sense Ki until after their training on the lookout.
http://dragonball.wikia.com/wiki/Ki_Sense