I have and want to read: How to talk so kids will listen, and how to listen so kids will talk, but I haven't read it yet!
I have 3 kids - the oldest is 7. Each night I read to each kid alone and then we have 5 minutes of extra time after reading where we just talk. We also eat dinner together and talk about our day then too. I got this for dinner which has been nice:
https://www.amazon.com/gp/product/B004XAF9G8
Sometimes it is pulling teeth to get my 7 y/o to talk, but I try not ask questions like: how was your day? (Answer always is: fine). I ask more specific question - what did you have for lunch? who did you sit with? What did you play at recess?
Here are some Qs I like:
http://www.parent.co/30-questions-to-ask-your-kid-instead-of-how-was-your-day/
I wouldn't expect immediate results, but I think if you keep at it you will learn more! Sometimes instead of me asking questions - I ask DC to ask me a question, and usually I ask him to answer the same question. Sometimes those are good ones!