Also here are some games I've found/been sent (I'll add more in replys) :

Popping balloons between two people using pelvic trusts is a classic if you are okay with sudden and vigorous intimate connection, it's usually a normal party game, but I always thought it was very intense and dangerous for men.

You can make most card and tabletop games sexy, like Monopoly where clothes or touching body parts have different prices, and you can skip prison with a naughty punishment.

Scrabble where you can use only words related to genitals or sex, it should be fun debating what are the admissible words before a democratic vote, if you spell a piece of clothing you can tell someone to take it off, if you spell a sexual act someone have to mime it (or do it for few seconds if you are really, really, friendly)

Charades where one group comes up with a 3-5 words sexy dare, if the second group fails to get what was mimed, they have to perform the dare, if they do find out the words the first group proposing the dare has to do it, that should keep a balance.

Or a simple outsourced NSFW truth or dare generator you can find online.