In the Titans' favorite pizza parlor, the five crime fighters are crammed into a booth. Robin is sitting next to Beast Boy, their thighs touching from lack of space. Both of them notice this unexpected erotic thrill. About to bite into a slice, Beast Boy suddenly feels Robin's hand on his knee. Slowly, Robin's hand creeps up Beast Boy's leg, out of sight of the others, stroking the inside of his thigh. Robin doesn't stop there. His fingers begin rubbing Beast Boy's balls through his shorts. Reaching higher still, Robin runs his fingernails across the head of Beast Boy's erect penis, tight against the fabric of his uniform. Beast Boy whimpers quietly.
"Stop your whining," says an irritated Cyborg. "I already picked the damn pepperoni off for you. What do you want now?"

Or, in the shower. Yes. Robin is in the shower, and Beast Boy accidentally walks in on him. Robin is startled at first, but when he sees that it's Beast Boy, he pulls the curtain open and says "Why don't you join me?" As Beast Boy begins getting undressed, there's a knock on the door.
"Could you hurry it up a bit?" asks Raven.

OK, on the couch. That's it. Cyborg is working on his car, Starfire has talked a reluctant Raven into visiting the mall. No disturbances.
"Wanna play some games?" asks Robin, picking up the controller to the game console.
"Yeah," answers Beast Boy. "but not with that." Leaning over, Beast Boy sticks his tongue in Robin's ear, sending a chill down the boy wonder's spine.
"I want you," Beast Boy whispers. He leans in and licks Robin's neck, his senses reeling from Robin's scent.

Yes! Beast Boy is almost there. His right hand works furiously. His let hand holds a wad of kleenex at the ready. 'Umm, Robin kisses me, and grabs my....ahhhh'. Beast Boy wipes up and runs off to the bathroom.