lewd, not explicit
even leaving apart how fun and nice it is to do that together for a second:
I like my friends. I want them to be happy. of course I'd do that if that makes them feel good
(social relationships are usually more complicated than that, but you know, in principle)
lewd, not explicit
so, uhm
sometimes blunt honest communication makes things easier when it comes to this stuff. I wouldn't mind someone asking me for it.
but be prepared to maybe get a "no". that's an important part of it.