On Guilt
I feel like in order to develop guilt through empathy one must know what his morals are. How can you develop guilt without a basis of what to feel guilt on ?
So guilt through empathy alone would not suffice. You still need to instruct the child what is right and what is wrong.
Luckily culture, religion, friends, acquaintances can all shape the very nature of our ethics.
Where do parents play a role ?
I think a good way (maybe not the only way) is, as you mentioned, to indoctrinate fear and guilt. If that is the way other people communicate to their children and loved ones and you want your child to be able to communicate effectively then connecting on an emotional lève is crucial. Thus the child should be taught appropriate social emotional signs and expressions, in my opinion.