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Its entirely dependent on the launcher you use. Go Launcher allows me to set custom folder icons.
If Sense does not allow changing folder icons, use a folder organizer app like Folder Organizer or App Organizer. Then once you arrange your apps into Labels in them, you can put shortcuts to the Labels on the screen. Both apps allow you to customize the icon per Label shortcut.


You dont add shortcuts to the folders. You go into the app, then you will see there a list of all the apps you have on your phone. For each app, you assign a label. For example, you assign "Drive" to Google Maps, Google Navigation, and Google Places. You can then select an icon for the label. Once your do that, go to your homescreen, add a shortcut and select Organizer Link, and choose the label. If you open the label, it will act like a folder.
You dont put a Shortcut and try to add other shortcuts into it.
EDIT:
Wait, I just realize you mean one of those shortcuts that get you directions to a person immediately via Navigation.
Well, if thats the case, I dont think either app is able to do it. Which basically means for your purposes, staying with sense launcher = you dont have changing folder icons.![]()