If you want to do what is best for your baby, then you should be talking to her pretty much all the time, except when she's asleep. So yes, talk to her when she cries; your voices will let her know she's being heard.
Please know that she heard you talking when she was in your uterus. Although the sound is a bit different now, the cadence, rhythm, etc., are the same. So, it would certainly be soothing to her to speak to her softly when she is crying. Yours is the most soothing voice she knows.The baby may not stop crying immediately, but it won't hurt her (she will still fall asleep, etc.).
It might also help to know when crying peaks in babies, because it is probably getting worse these days. Babies' crying peaks at about six weeks then gradually gets better.
You might look at this question and its answers as well as this one to get more information on why speaking to infants matters.
Editted to add: Apologies to the OP for presuming you are the mother. If you are the father, by all means please talk to your baby. The answer is only slightly different if you are the dad. :)
Effects of experience on fetal voice recognition.