There is no strong evidence to support that herpes can be transmitted in this manner however; I would not recommend sharing a towel with someone who has herpes. It is better to err on the side of caution.
Related posts:
Is there any connection between herpes and HIV?
How does one contract Herpes (HSV-1- HSV-2)?
I don’t have any symptoms of herpes, therefore I don’t have herpes.
What are the “Prodromal Symptoms” (early warning signs) of Herpes?
Can I give blood if I have herpes?
Can a herpes virus migrate to other areas of the body?