ここまでいくと、要素で考えないと理解が難しくなります。
>>> import numpy as np
>>> a = np.arange(60.).reshape(3,4,5)
>>> b = np.arange(24.).reshape(4,3,2)
>>> c = np.tensordot(a,b, axes=([1,0],[0,1]))
>>> c.shape
(5, 2)
>>> c
array([[4400., 4730.],
[4532., 4874.],
[4664., 5018.],
[4796., 5162.],
[4928., 5306.]])