Yes you can cook. Well, you can learn to cook. And like anything else you learn to do it is a matter of reading the instructions, following them to the letter, asking for help if necessary, and practising as much as possible.
Go to your local bookshop or public library (free!) and look for a basic cookery book - Delia Smith is a good writer to start with. Don't get books by restaurant chefs - with very few exceptions these are not easy to follow for a beginner. Get books with pictures so you can see what you are aiming for, but don't worry if your efforts don't look that pretty!
There are lots of SW recipes on this website, on the official SW website, in the magazine and SW books.
Don't leave it until five minutes before you need to start cooking - read through the recipes well in advance, choose a recipe you can understand, get your ingredients, read the recipe again, and have a go.
If anything doesn't make sense to you - well, there are a lot of people here who will be very happy to answer your questions. Doesn't matter if you think they are daft questions - we all have to start somewhere!
Slowly build up a list of simple things that you can cook - this will give you confidence to try something more complicated.
And when you do have more confidence, then get your husband and children to do some cooking too. It is one of the most useful things for anyone to learn.
Good luck - in no time you will be enjoying it!!