sensual
Sensual means physically pleasing. It often is used in a sexual context, but is not exclusively sexual in meaning.
sensuous
Anything that is pleasing to the senses can be called sensuous. The feel of a soft cashmere sweater on your skin, the taste of dark chocolate, even the smell of your favorite person — all of these can be sensuous experiences.
https://allpoetry.com/The-Naked-And-The-Nude