Andreas73 saidOh yeah! Frottage is hot! It's actually my favorite form of sex. I don't think there has to be penetration for it to be considered sex.
I lived with a guy for about a year who had been through the AIDS crisis in NYC during the 1980s. He was really terrified of contracting HIV, and so wouldn't do anal at all, but did allow mutual masturbation & frottage. He wouldn't blow me, either, but let me do him.
His method of frottage was to have me lie on my stomach naked in bed, while he lay outstretched on top of me. He'd rub his hardon hands-free against my ass crack, usually without lube, until he shot all over my back. I found it surprisingly soothing & relaxing, like a massage, so much so that sometimes I'd fall asleep during it!
He didn't mind too much my doing that, since my role was completely passive and facing away from him. Unless I started snoring, and then he'd tap me awake. He also did me from the front a few times, his dick rubbing along my groin, but I liked that less, lacking the wonderful feeling of tranquility I got when he was working my ass.
The other thing we did that I initiated was double masturbation. I'd straddle him at his hips while he lay on his back, facing him, and lube us both up. Then I'd lock my fingers together and sandwich both our dicks together between my palms and stroke them in unison.
For some reason I've always enjoyed doing this with a guy, not only for the sensation, but also the visual stimulation. And most guys like it, too, usually able to get off with me that way if they want, or it just makes good foreplay. Only problem is that it works best with dicks of the same size, so I won't try it with small ones. Plus some guys are embarrassed to have their manhood so obviously compared with side-by-side contact, if they're considerably smaller than me. But I do consider it having sex.