Just the other day my best friend shared this gem of an ee cummings poem with me that I had not come across before. His erotic poetry somehow always manages to come across with a hint of innocence, sensual not smutty.
Lady,i will touch you with my mind.
Touch you and touch and touch
until you give
me suddenly a smile,shyly obscene
(lady i will
touch you with my mind.)Touch
you,that is all,
lightly and you utterly will become
with infinite care
the poem which i do not write.
Gentlemen, Valentines day may be behind us but I can guarantee that is poem with some flowers sent to the one you love ‘just because’ will make her happier than you can imagine. I don’t think men realise just how amazing it is to receive flowers, particularly for no better reason than because he is thinking of you.
Here are a two more of cumming’s sensual poems that I recommend:
I like my body when it’s with your body
The second one is one of my top five cummings poems – I don’t have a favorite, just a favorite for different occasions. I don’t think there is a better way to describe how close you feel to someone by saying I like my body when it’s with your body.

I would also use A Woman Waits for Me by Whitman, or To You also by Whitman.
I haven’t read much Whitman before, thank you for sharing. it always amazes me how poets living in such conservative times wrote (and published) such overtly sexual poetry.