U cant speak to esp at 38000 baud rate. Depending on version of firmware its either 9600 or 115200 or 78800(im not sure exactly but around 7xK).
Open softwareserial example change your pins change speeds to the ones i wrote then send at command if no response send at+rst wait for ready. Then send command at+uart_def=The baud rate you want. Then go from there