How to compare and measure the similarity between two between two signals? [Cross-correlation]

Hello all,

I'm working on different sensors data, the question is this: I have two signals (coming from two different sensors measuring two different phisical charactheristcs of the same "object"). I know for a fact that there is a certain amount of time delay between the two signals, but beyond that, I just want to know how is the correct procedure to correlate the two signals in order to have a proper idea of the similiarity of the signals. Moreover: Can I modify the signal sens1 in order to predict (if in real time or in order to get in post-processing) the signal sens2? Is any specific tool or package in python to easily do this type of comparison?

Thaks a lot in advance,