Well. you've certainly outlined one of the hardest things in any animation, 2D or 3D. There are no (AFAIK) "automagic" ways of accomplishing this.
But... first and foremost you need to become an experienced animator. Of just ONE person. Like with anything else, you need to understand ALL the fundamentals before you can do more advanced stuff. So, like you wouldn't expect a person to be able to compete in a marathon unless they knew how to walk first, you need to learn how to walk, then run, then you *may* be able to do those more advanced things.
And... it will take time. For you to get to be experienced at animation I would suggest it would take at least three months, if not longer (that's assuming you can devote at least three or four hours a day to the task -- with lesser time per day it will take more days). By the time you understand all of that, know how to animate a character pick up a spoon and feed themselves, and can do it with ease and grace, THEN you can start having them interact with another. And THAT will take another three months (or more).
As long as you have the time (and the patience) you can do all this. But there is no "one stop course" that will tell you all. Start at the beginning and soon you'll be teaching US.
(Also, note that most such interactions are "faked" to a large degree -- just like with someone feeding themselves, you don't see all the details but just see bodies in front of each other with movements that make you think things are happening, even if the actual avatars are feet away from each other).
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Mike "ex-genius" Kelley