Immediately, I had to think about ee cummings, one of my favorite poets, who wrote erotic poetry and even added drawings. They can be seen and read here.
vii.
i like my body when it is with your
body. It is so quite new a thing.
Muscles better and nerves more.
i like your body. i like what it does,
i like its hows. i like to feel the spine
of your body and its bones,and the trembling
-firm-smooth ness and which i will
again and again and again
kiss, i like kissing this and that of you,
i like,slowly stroking the,shocking fuzz
of your electric fur,and what-is-it comes
over parting flesh….And eyes big love-crumbs,
and possibly i like the thrill
of under me you so quite new