friendly cuddles
Cuddles with someone that isn't a love interest.

Friendly cuddles follow these guidelines

-clothed
-no kisses

-hands kept away from private parts

-no feelings towards one another
"Yo man, Britney and I totally hung out and we cuddled"

"Brad. She told me those were strictly friendly cuddles"
"Yeah man I know, but I still got to have her body next to mine"