In this paper, we experimentally investigate how the 3D sound localization capabilities of the blind can improve through perceptual training. To this end, we develop a novel perceptual training method with sound-guided feedback and kinesthetic assistance to evaluate its effectiveness compared to conventional training methods. In perceptual training, we exclude visual perception by blindfolding the subjects to apply the proposed method to the visually impaired. Subjects used a specially designed pointing stick to generate a sound at the tip, indicating localization error and tip position. The proposed perceptual training aims to evaluate the training effect on 3D sound localization, including variations in azimuth, elevation, and distance. The six days of training based on six subjects resulted in the following outcomes: (1) In general, accuracy in full 3D sound localization can be improved based on training. (2) Training based on relative error feedback is more effective than absolute error feedback. (3) Subjects tend to underestimate distance when the sound source is near, less than 1000 mm, or larger than 15° to the left, and overestimate the elevation when the sound source is near or in the center, and within ±15° in azimuth estimations.