How can I learn how to cook? If I cook meats incorrectly, that could be dangerous...?

When I grew up, by the time I was in high school, we were so busy, it was either go out to eat or make macaroni and cheese or pasta or a grilled cheese...something fast. We never sat together around the table anymore. Everyone was grabbing a meal and going to another corner of the house to watch something different on TV or be by themselves. Most of the time we went out to overpriced restaurants. There was never, ever any meal planning. When you felt hungry, food was available within 10-20 minutes, whether by the water/waitress bringing it to you, or by zapping that microwave dinner or some spaghetti o's. I never learned how to cook. Now, on our own, my fiance and I have no idea how to cook anything. I think it's probably cheaper to make your own meals...he swears that buying food at a restaurant is cheaper and results in fewer wasted ingredients that end up getting thrown away. However, I want to know what goes in my food, want to watch my cholesterol, and have gotten dangerously ill so many times at restaurants from improper chicken handling/cooking, that I want to learn to cook. I can't live on oatmeal, canned pears, and boxes of raisins...and have no clue what to do to cook meat. I can't eat beef products, but I would eat chicken or turkey. How can I learn to cook? Everyone I know goes out to eat for all meals. Even my friends. They say food prep takes too much time, and that the time they save makes up for any extra cost! What should I do? How can I learn to cook? What are fast recipes that are plain, balanced and healthy? How do I cook for a guy who prefers burgers and fries, and I can't eat that stuff?