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https://steamcommunity.com/app/983970/discussions/0/5367692919528008793/ (Note the comment pointing out that the characters can also heal each other by kissing and hugging)
I'm assuming you're at a relatively early stage in the game, so the short version is: A bit later on, you get the ability to create healing items which can be used in the Nest/while camping outside. You'll also get the ability to create healing "balms" which you can use to heal yourselves either in the exploration segments or during combat.
Both of these crafting abilities need to be unlocked by finding specific items for the Nest in-game. Unfortunately, I don't remember what these items are or where you find them, but I'm sure someone around here can point you to the right place. Until then, I'd suggest searching all of the areas carefully until the game says you've found everything, just to make sure you didn't miss these two crafting ability items.