I am a speech therapist and at his age he should be using at least 50 words or so. They could be unintelligible to someone like me, an unfamiliar person. If he is not talking at all and not making any attempts to communicate I would request an evaluation from a speech therapist. Check with your state to see if there are any early intervention programs in place that can assist you with finding a speech therapist at no cost to you. The therapist will evaluate him, see how he interacts with you, other family members and have a lot of questions about his day to day life. Hopefully she will recommend therapy, at least once a week, depending on if he's a young two, does he tantrum in response to not getting something, where his social and play skills are, how much he understands, can he follow simple directions, etc and work with you especially on things you can do to help him.
I would recommend that you set more firm expectactions from him. If you know he wants some milk and he's reaching or grunting, you model the word,'milk?' want milk? and wait for him to attempt imitating you or at least make a sound other than grunting. Reward him for that. Don't let others talk for him. Also, when you talk to him, make your sentences much smaller. He can't repeat a 5 word sentence so don't even try. Talk to him in 2-3 word sentences - you want more? i like this, let's go here, etc. I would also avoid lots of questions - what is this, what color is this, etc. It's not a functional way to communicate - we don't talk to each other with lots of questions in real life.
Good luck!!