Yes, you can get herpes this way, and strep, colds, flus, meningitis, as well as a host of other things. I don't say this to freak you out, but to let you know not to do this anymore, even with people you know well.
There are no real studies that show how likely this is to happen, but if she didn't have a cold sore, I wouldn't worry too much. Have you ever been tested for hsv1? About half of the world has it, and most don't know it. You could already have it. Ask your doctor for a type specific IgG herpes blood test.
In the meantime, don't worry about it unless you get symptoms, and go buy some lip balm or chap stick.