No. Herpes requires sexual contact to transmit - it's a sexually transmitted infection. If it were this easy to spread, every single person would have it.
Hsv2 is only transmitted by direct, unclothed genital to genital or genital to anal contact - either vigorous rubbing/grinding or penetration. Rarely, it is transmitted by direct unclothed genital to mouth contact, like oral sex.
It is never transmitted by casual touches - handshakes, hugs, etc., - like you describe.