Does oral count? If so, yes. I had an fwb relationship with a gay male coworker many years ago.

Thirty-five years ago I was in my twenties and married. An older male co-worker came on to me, flirted with me, and eventually propositioned me. He offered to pay me just to strip for him. He was desperate to see me naked. He said I looked just like his first love from high school.
After quite a bit of negotiation, I gave in and found myself at the end of his bed late one Saturday night after work. I slowly, nervously, removed my clothes, one piece at a time, to his audible, demonstrable approval.
His excitement became begging and more negotiating for me to allow him to give me a handjob.
That night turned into two years of weekly to monthly visits that found me naked the minute I walked in his door, showering for him or with him, letting him do anything he wanted to me. I came in his mouth more than I've ever cum in my wife's.
Every time I pulled into his driveway, I knew I was going to cum at least twice within the next two hours.
Moving away to a new job ended our playtime. But, I'll never forget anything we did together.
Mouth is almost definitely my favorite. But, it's been so long. My wife has only done that a couple times in almost 40 years. I had an fwb many years ago who only wanted to swallow. That was amazing. Otherwise, I've only ever cum in my wife's hand/on my stomach, inside her pussy, and once on her ass in the shower. But, cumming with her is amazing no matter where it goes.
Well, if touching boobs is considered a full-on sexual act, then I imagine that's number one for most straight men/boys. The first time I had actual sex was in the tenth grade. I'd turned 15 just a couple weeks earlier. We had a day off of school and I got a ride to the home of my girlfriend of a few weeks. She was folding laundry on her bed and we took advantage of having the house to ourselves right there on a pile of clean clothes.
I used to average 7-7.5, even hit 8 on a really good night. A couple years ago, I experienced a couple injuries (let's call them unintentional rapid pull-out errors) that caused the development of peyronies resulting in a lateral, then downward bend. I've lost a bit of length and even some girth as a result. But, pumping, massage, gua sha, and a strict vitamin/mineral regimen is helping reverse some of the bend. At least, my bend was fairly minor and I haven't experienced the pain many men report.
"Too deep!" -- my wife. One of the greatest compliments I've ever received. Another one: a gay friend asked her if I was good at "taking care" of her. She gave him that incredulous look that questioned why he would even ask such a question and replied, "God! Yes! He's amazing! He's the only one that's ever given me an orgasm!" These are among the reasons we've been together for almost forty years.
I was surprised at myself when, as a young teen, I started noticing -- and admiring -- pretty feet and toes on the girls around me. I couldn't believe my good fortune at finding and falling for a young woman with the most beautiful feet I'd ever seen. And, just imagine how I felt when I discovered she loved having extensive, loving attention paid to her feet. We've been together for almost forty years.
There's a picnic table in very secluded area of a local park surrounding a lake that serves as the city's reservoir. There isn't a parking lot nearby. So, very few people hike that far out. But, my wife and I were in the mood for something different and a little dangerous. So, we made our way out there just this morning in spite of the cool temperatures. By the time we arrived at our destination, we were sufficiently warm to strip to nothing. She lay back on the table and I squatted down to position my face between her legs. She squealed and bucked as I licked her to a trembling orgasm. A couple minutes later, I pumped her full of my seed as we both panted and dripped sweat in the woods. The rest of our day has been slow and satisfied.
As I've said in another post: In my 20s I had an older admirer that spent a lot of time wooing and enticing me into a relationship that was built entirely on his admiration of my body (and the fact that I looked exactly like his first gay boyfriend from high school). I was -- at best -- bi-curious and lonely. But affection is affection. After a couple months of performing for him and receiving his affection. I gave in and eventually let him touch and taste me. He actually seemed a little put-off as if he really didn't want me involved in the mechanics of our physical relationship. I was just supposed to be his toy. But, eventually, he found out what I could offer to his long, thin cock in my mouth.
I've tried a few toys that I liked. But nothing beats the sensation of having my girl giving it to me from behind while she stroked me to a violent explosion. Alternatively, the only equal is having a live, throbbing cock pulsing inside you with heavy, hairy balls banging against your own balls.
In my 20s I had an older admirer that spent a lot of time wooing and enticing me into a relationship that was built entirely on his admiration of my body (and the fact that I looked exactly like his first high school gay boyfriend). I was - at best - bi-curious and lonely. But, affection is affection. Eventually, after a couple years of just performing for him and receiving his affection, I finally gave in and offered him my services. He actually seemed a little put-off as if he really didn't want me to be active in our relationship. I discovered he was more interested in me being his straight-boy conquest instead of an active participant or equal lover. I know that's important for some gay men.
After a while, we broke it off and haven't seen or heard from each other in almost 30 years. In my deepest daydreams I often wish things had transpired differently and we still had at least occasional contact. His loving affection was unlike anything I've ever experienced.
And, to be honest, I often wish I could give him the benefit of everything I've learned since I was his naive little twink.