beidoubagel You absolutely can: messages.google.com/web
Open your Messages app, tap your avatar, then Device Pairing. Follow the steps from there. If what you use as a browser (i.e. Chrome) lets you, install the PWA app on your PC, and use it to text almost natively. It just has to tie into your cell phone number to work. RCS is not cell phone number agnostic. And as such, Messages for web is meant to be an extension of your texting app.