Yes, prayer is a two-way thing.
I find it odd that your friends specify that biblical prayer is not interactive. The Bible is full of examples of God clearly speaking to individuals: Adam & Eve, Noah, Joseph of the Old Testament, Moses, David, Samuel, Elijah and the other the prophets, Joseph of the New Testament, the Blessed Virgin and Paul are just the examples that immediately come to mind. God does not speak to us ordinarily as He did in these examples - they are the exception, not the rule.
The first thing to remember is that the very fact that we approach God in prayer is only the result of the prompting of the Holy Spirit. God initiates prayer, not us.
Secondly, while much of our prayer is made up of praise and thanksgiving, we also petition God for many things and He does answer those prayers. Maybe not answers that we want or in the time we want but he answers our petitions, as He promised.
Thirdly, God may indeed speak to us in prayer through impressions we may receive during prayer. He ordinarily uses our reason, thinking, common sense, seeking advice and our interaction with others to communicate with us. Supernatural means of communication, such as visions and locutions, are much more rare and are, as St. John of the Cross advises in the great majority of cases, not to be trusted as we cannot be sure of their authenticity.
To hear God in our prayer we all need to develop a habit of quiet anticipation. Elijah heard the voice of God not in the mighty wind, not in the earthquake, not in the fire, but in a still small voice. If we quiet ourselves we, too, can hear God’s voice. It takes practice and discernment, but He does speak to us. We just have to be in the position to listen for Him, in whatever way He wishes to communicate with us.