Can't keep a conversation nor get close to people?

I just don't insert myself in the conversation. It's gotten to the point that they know I won't have much to say so I'll just be the guy asking questions as they keep talking. They'll ask me things but i just give short answers and that's it. I am proud to say that at least I had the guts to start a conversation with this girl I'm into (21F), twice, but how was it? LoL, first time I could actually feel her go ugh while smiling because I kept going on about work instead of trying to have a friend convo with her (I knew her for months tho we rarely ever talked). Then again this convo lasted like 1 minute since we were getting to work. 2nd time we were talking about stuff and she just kept going on and on with me to the point she lost 5 minutes of her lunch break because she forgot to look at the clock. Is it possible to get a good friendly relationship with someone by being this way? To get a girlfriend this way? It's torturous