Step1
Attend a Game or Event. Of all the collegiate sports, the Olympic sports are the most easy to attend. A lot of times you can even go to these without paying, and there's usually plenty of room for additional spectators.
I used the heading "Game or Event" because some Olympic sports are more aptly described as events than as games or matches--for example, track and field, wrestling and gymnastics.
Step2
Use the Internet: The best way to follow a particular school's Olympic sports is to go directly to the webpage for that school. Please see the second link under "Resources" for an index by school.
There are also some webpages that cover Olympic sports nationally, though not nearly as many as there are for the big sports. Some of these too are found under "Resources."
Also you can follow some Olympic sports live at least via live stats, and somewhat with webcasts (audio and/or video) on the net. Again, please use the Resources.
Step3
Watch TV: The TV is not yet extremely effective for following collegiate Olympic sports, but its gaining ground in this area. CSTV (College Sports Television) does a decent job at it, ESPNU somewhat, and the Big Ten Network is probably the best at Olympic sports coverage provided you follow the Big Ten. Of course the BTN also features schools from other conferences when they meet Big Ten competition. I think "the MTN" or "The Mountain" network also carries some Olympic sports, mostly those of the Mountain West Conference, but its availability is still mostly regional. Some of the Comcast Sports Net channels and Fox Sports Net channels carry these sports some too. Also Fox Soccer Channel carries a little bit of college soccer. You'd think they'd carry more American college soccer than football or futbol played abroad, but they don't as of yet.
DirecTV offers EPNU, the Big Ten Network, and CSTV, and Fox Soccer Channel, as well as some others on their SportsPack that occasionally carry Olympic sports.
As difficult as it is locating Division I Olympic sports on TV, it's nearly impossible to find Division II and III, but occasionally you will on ESPNU or CSTV.
Your best bet generally speaking is to go with DirecTV and its inexpensive SportsPack add-on.
Step4
Listen to the Radio: Olympic sports are not covered widely on the radio, but if you visit individual school websites you may find that the school you follow broadcasts some events locally. Volleyball and baseball are probably the most likely to find in this regard.