The former Tottenham Hotspur striker has been discussing the north London club's former manager.
Venables, now 72, managed the White Hart Lane outfit from 1987, having managed Barcelona before taking over in north London and going on to take the England job thereafter.
And Sheringham has nothing but good memories of the former Spurs coach now that he has taken his first steps into management.
Indeed, the once Tottenham, Manchester United & West Ham United striker is currently in charge at Stevenage and has been reminiscing about his former bosses for inspiration.
Venables was 'loved' and listened to by everyone, Sheringham explains.
He said: "Terry Venables? What a manager - for Tottenham and England. Everybody loved his sessions. You just had to listen to him talk, hear the little points he had to make. The little bit of guile that you would really think about."
Another coach Sheringham worked under at Spurs was the Argentine Ossie Ardiles and the 49-year-old remembers him fondly too.
Under Ardiles, Sheringham says, the enjoyment was 'fantastic' as the Tottenham coach would tell his players to go out and 'play, play, play.'
He added: "Ossie Ardiles? It was great playing for him - 'Just go out and play, play, play.' The enjoyment of that was fantastic."
Ardiles didn't last long at White Hart Lane, however, although he is always fondly remembered, while Venables' infamous clashes with then chairman Alan Sugar in the end defined his reign.