To Add:
adb shell pm grant com.name.app android.permission.READ_PROFILE
To Remove:
adb shell pm revoke com.name.app android.permission.READ_PROFILE
This changed at the release of Android M, so in Lollipop (at original time of writing answer) you needed to do adb shell first.
adb shell
pm grant com.name.app android.permission.READ_PROFILE
A full list of permissions can be found here. If you have android build tools set up you can see what permissions the app is using. First use
adb shell pm list packages -f
Then copy the package to you computer:
adb pull /path/to/package/from/previous/step.apk
Then get permissions:
aapt d permissions path/to/app/on/computer.apk