I dont think its appropriate. Ive tried, I think many of us have, and there are a number of problems with even trying. The first three problems are all related to what amounts to pride. There is no way to say otherwise, because either you are a fully qualified Guru who can teach the profound teachings to people totally accurately, gauge their readiness, and lead them to realization or you are not. If you are just teaching people these things without them even asking, you've made this assumption about yourself on some subtle level and are now acting it out. I say this only because thats what Ive done, and its how I feel about my own actions. That they are nothing but pride and not rooted in any understanding of these topics.
I. First you are assuming you understand emptiness yourself.
II. Secondly you assume that this understanding is sufficient to explain it clearly to others.
III. Thirdly you assume you are capable of judging the readiness and ability of others to comprehend emptiness.
As for myself Im incapable of judging weather or not anyone does understand emptiness or is ready to understand it. This doesnt even get into the issue that the vast majority of lay people are nowhere near ready to listen to teachings on emptiness even if in the future they could in theory realize emptiness with proper training. The main reason for this is that their perceptions are very solid, their minds see phenomena as very real, and they have very strong attachment to their own belief and protecting the beliefs that maintain their sense of self and reality. The secondary reason they are not ready and why you shouldnt talk to them about emptiness is because most people have never heard of a doctrine so profound, and so they have no existing framework in which to mentally place this new doctrine. Since it is new, it will be experienced as foreign and alien. Because of this most people will outright reject the doctrine or "shut down" when you try to talk to them about it.
Maybe you've seen the shut down before. Its pretty scary. Its what happens when you breach a subject someone is not ready to approach, consider, believe, or even hear. Their eyes gloss over and they just stare into space. Then when you are done talking, they start talking about the weather or some other thing totally unrelated to what you said and its as though you never spoke at all. This can happen not just with topics of profundity but also with anything they dont want to think about and have a major block to mentally considering.
At any rate, due to the solidity of peoples perceptions and their lack of ability to categorize this new info into an existing mental framework most people just reject it. Some will become hostile towards it and you for believing it, which is the worst case scenario, and will even make shit up just to try to piss you off and will take a huge steaming crap on whatever you've just said and laugh in your face about it. If they are open minded enough they may try hard to understand, however this is where your own ability comes into question. Lets say they are willing to listen, and want to understand. If they reach the limits of your own knowledge through discussion they may become discouraged, decide that you dont really know what you are talking about and still end up rejecting the doctrine because they will see that you dont really know what you're talking about and were just trying to impress them or whatever. Even if your intention is good, your good intentions cant be seen or known by them.
This happens when for example you dont accurately judge a persons intelligence and readiness to hear the doctrine. If they are very intelligent and maybe ready to the point that they are even more capable than you in understanding it, then when they reach the limits of your knowledge they can decide that you are just blowing smoke out of your ass even if what you are saying is not just rooted in your own experience, but is all 100% factual and accurate. The reason is because people are always seeking to place those around them accurately in various hierarchical ways. Are they more intelligent, stronger, more beautiful, more capable. Socially this makes sense and is how people understand where others fit into the hierarchy around them. If they reach the limits of your knowledge and they themselves feel themselves more capable than you at this point, they will discount everything you've said and probably never look into the topic again.
Therefore the best place to start with lay people is the four noble truths and a few good beginners books you can point them too. There is never really any reason to discuss topics of profundity with lay people such as madhyamaka, mahamudra or dzogchen. Even if you have real experience with these things and you know your understanding is accurate based on talking to your teacher... and you have the most positive intentions... Still that wont matter and you wont be able to get through to these people.
As for what I believe, if someone asked me what I believed in the last thing I would do is "elaborate the doctrine of shunyata" to them because I dont believe in emptiness.
On the other hand, I would reply to that same question by saying that I believe all sentient beings have Buddha Nature but that if they dont seek to realize it, it will remain dormant and latent like a seed waiting to be given water and sunlight, and that if sentient beings nurture this Buddha Nature through the practice of Dharma then they can come to realize it for themselves and free themselves from various forms of suffering.