Titillate

[Sarah]

To excite or arouse. Well-known for its first three letters.

[Couch Potatoe]

1.To stimulate by touching lightly; tickle.
2.To excite (another) pleasurably, superficially or erotically.

[Sarah]

1.) to make an individual aroused by means of caressing, and/or stroking 2.) To pleasure by means of penetration and/or vaginal and anal stimulation.

[Dave Paprocki]

Arouse (someone) to interest or mild excitement, especially through sexually suggestive images or words.