Herpes needs to be rubbed into an area to be at risk so sharing food is no risk for passing the virus in adults. The bigger risk is for young children whose immune systems are not yet strong and may be at risk for sharing dribbling toys in a daycare center.
Very very low, with no sores present no risk. Eveb then someone should have a big outbreak leaks a lot and the other person would have to drink eat from the contaminated fork/glass with an open sore in their mouth or rubb it ino their lips. This is much higher risk for common cold and other garden variety viral infections