To see your listeners, go to your stats page, then click the Tracks tab -- there will be a list of your SoundCloud listeners on the right hand side. If you still can't see them, click the down arrow on the time range above, then choose 'All time'. Below the little list of your listeners, you'll be able to click 'View all' and you'll see every listener you've ever had! You can also check out this screencast.

Please keep in mind: only listeners logged into their SoundCloud accounts will appear in your stats section.