The answer is yes. Genital warts is transmittable in this fashion. Skin to skin contact can spread the HPV virus. The virus is very transmittable, and a partner even in asymptomatic phase can spread the STD in this fashion.
First make sure that you are alone and will not be interrupted if it goes pretty far. The best place to be is somewhere comfertable, like on a couch or bed. When you reach a break in conversation,...
From a guys point of view I liked to be touched around my face then progress to more sexual places such as my nipples, balls, and the soft spot right under my anus