Adam, if you have some dowels or pins of a suitable and identical size to sit about halfway down in the tooth space, you can measure over the pins, over a distance of several teeth. Subtract the diameter of one pin, and divide by the number of teeth, less one (i.e., counting from zero).
By converting into appropriate units you can look up the pitch on a table of metric Module sizes, or diametral pitch (DP) for inch sizes.
Hopefully, this should get you started:
https://khkgears.net/new/gear_knowledge/abcs_of_gears-b/basic_gear_terminology_calculation.html
Bill