I heard a sex educator recommend teaching your kids (especially boys) how to ask for sexual consent without sounding awkward. If I’m with someone and say to them “You have a sexy butt. I want to touch your butt.” then slowly move my hand toward their butt while they have plenty of chance to react, they have the opportunity to (A) move to encourage me to touch their butt, (B) tell me no thank you, (C) move so I won’t touch their butt, or (D) do nothing. Most mutual touch I’ve experienced, I never got around to the point of needing to ask. The body parts were in my hands before I did anything.