I go to Analytics, and create a new report of type "Email Link Performance". Then I go to the Smart List tab and drag over the "Clicked Link in Email" filter, and set it to the email in question. Next, I go to the Setup tab, and double-click on the "Date of Activity" row and set the date to when the email in question was sent. (If you skip this step and the email wasn't sent within the currently selected time window, it won't return any results.) Then I'm able to see how many people clicked each link under the Report tab.
To generate a list of exactly who those people were, you can navigate back over to the smart list tab and click "View Qualified Leads" under the gray tabs at the top. That pops up a new window with the actual list.
At least that's how it works for me--if you're sending the same email multiple times (especially on the same day) it might not be so straightforward. Hope that helps!