The closest thing I can think of is frotteurism. It’s the paraphilia of rubbing up against another person, usually the genitals against the thighs or hands touching breasts. It is illegal in the United States and most perpetrators perform such actions in public crowded places where they can easily flee.
Obviously, the victims of this paraphilia don’t give consent where I believe you are talking about consensual touching with cloths on. It may still be considered a from of frotteurism, but I’m not exactly sure.