"Resume" is better. "Resume" indicates continuing from where you left off (after a pause). "Renew" would imply starting from the beginning. For example, if I had a magazine subscription for 52 issues, and I had it paused after ten issues, resuming it would eventually give me the remaining 42 issues. If I renew a magazine subscription, I would get a "new" subscription of 52 issues.

"renewal" doesn't involve a pause. I'd like to renew our contract. (We have a contract that is going to expire. I'd like to have a new contract) I renewed my library book. (It was going to be due soon. By renewing it, I can return it to the library later)

RESUME means to continue as you were or to "pick up where you left off". RENEW can mean to make changes, to improve or strengthen. For example, if a young, married couple RESUMED their relationship after a short separation, they would return to the same routine. However, if a young, married couple RENEWED their relationship after a short separation, they would make changes to improve their partnership.

"Resume" means that you are continuing with something after a pause. For example, you resume a video after you have paused it, or resume a conversation after an interruption. "Renew" generally means to start something over again from the beginning. In the case of your question, "Would you like to resume our talking sessions?" is correct!!