Osculation

v. To kiss, or come into contact with something or someone in a way that could be referred to as kissing by simile

This may not be the most romantic way to say “kiss”, but it’s certainly among the most interesting

All animals copulate but only humans osculate. Parakeets rub beaks? Sure they do, but only little old ladies who murder schoolchildren with knitting needles to steal their lunch money so that they can buy fresh kidneys to feed overweight kitty cats would place bird billing in the realm of the true kiss.
— Tom Robbins, Wild Ducks Flying Backward (2005)

He kissed the plump mellow yellow smellow melons of her rump, on each plump melonous hemisphere, in their mellow yellow furrow, with obscure prolonged provocative melonsmellonous osculation.
— James Joyce, Ulysses (1923)

According to a famous Yale professor
“Osculation is a sensation that is nice”
— Dean Martin, Tonda Wanda Hoy (1951)

Greetings, Gate. Let’s osculate.
— Daffy Duck, The Wise Quacking Duck (1943)

Etymology: From the Latin osculum, literally “little mouth”