Outercourse

From BoyWiki

Outercourse is a term created in the 90s source? to contrast with the term (sexual) intercourse, "Outercourse" provides safer activities, which minimize the chance of the transmission of sexually transmitted diseases (STDs) as it does not involve actual penetration of any bodily orifices.

Masturbation, frottage, massage, etc. are all examples of "outercourse".