Spells Copied from Another's Spellbook or a Scroll
A wizard can also add a spell to his book whenever he encounters one on a magic scroll or in another wizard's spellbook. No matter what the spell's source, the wizard must first decipher the magical writing (see Arcane Magical Writings). Next, he must spend 1 hour studying the spell. At the end of the hour, he must make a Spellcraft check (DC 15 + spell's level). A wizard who has specialized in a school of spells gains a +2 bonus on the Spellcraft check if the new spell is from his specialty school. If the check succeeds, the wizard understands the spell and can copy it into his spellbook (see Writing a New Spell into a Spellbook). The process leaves a spellbook that was copied from unharmed, but a spell successfully copied from a magic scroll disappears from the parchment.
If the check fails, the wizard cannot understand or copy the spell. He cannot attempt to learn or copy that spell again until one week has passed. If the spell was from a scroll, a failed Spellcraft check does not cause the spell to vanish.
In most cases, wizards charge a fee for the privilege of copying spells from their spellbooks. This fee is usually equal to half the cost to write the spell into a spellbook (see Writing a New Spell into a Spellbook). Rare and unique spells might cost significantly more.
This is an option for spellbook based classes: mostly wizards and magi. Sorcerers and bards are unable to learn a spell from a scroll.
As corner cases, alchemist are able to copy a spell from a spellbook and translate it into a formula (but not the other way round), and witches' familiars can teach each other spells known.
I assume you means sorcerers and bards?
If so, no. Sorcerers and bards cannot learn from a scroll. Only prepared casters can do so (wizards, witches, arcanists, maguses etc)
I will note that it might be acceptable for a sorcerer or bard to use a scroll of an unusual spell to help them "learn" the spell when they level up.
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Also, if you have the right wondrous magic items, you can use a scroll of a spell from the spell list to add the spell to the spells known for the spontaneous caster.
Ring of Spell Knowledge or some such, and there is a Sorcerer robe that gives that ability, too. DC 20 or 25, Spellcraft IIRC, it is listed in the item descriptions.
For something a little more reliable, there is always the Page of Spell Knowledge, but the spell is not as flexible, in some ways.