How does one politely and properly ask a date if they want to fool around?

I feel like that stuff usually comes natural. 😋 You shouldn't have to ask

"Wanna tickle my pickle?"

if you have to do that..you should rethink your present situation

Yo, bitch, wanna fuck?

Though in all seriousness, every time I've gotten to that point it was entirely contextual and pretty much just naturally happened. 🤷