You don't get the skill but if you have Khem out with his character window up, you should have no problem.
As psandak said, open up your character window but with Khem Val out. on the bottom of the window will be a character tab. Click that and it should show your companions equipment now instead of yours. Now with your inventory window open at the same time, try to equip his gear as you would your own.
I've tried opening the inventory and right clicking, but it says "You don't have the skill to use that item."
When you do it this way, your basically telling the game you want to equip it to yourself and not your companion