Press the I key to open up your ammunition allocation screen. The default should be your torpedoes and another tab on that screen is for your cannon/AA.
On that screen you need to drag the external torpedo over your internal reserve area (not the actual firing tube area). It takes time. If you speed up time and mouse-over the external reserve, you will see how long it will take for the move. As Captain Birdseye says, make sure you have enough crew in the aft or fore torpedo room (whichever is appropriate) so it goes faster.
The real question is: why can't we use an external aft torpedo to replenish internal fore torpedoes? How would the torpedo know what direction it will fire? That makes me crazy.
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