Defiance (2013-2015)

In "The Serpent's Egg", characters about to have sex are shown kissing.

In multiple episodes an alien woman is shown wearing an outfit that exposes most of her body, including the sides of her breasts and the entirety of her legs.

One of the main characters is a prostitute who runs a brothel/bar.

Season 2, episode 1: It is told that a female character gives her husband a handjob while visiting when he is incarcerated in a work camp. The same male character grabs another females hand near the end of the episode and wants to pleasure himself with it, but she refuses, joking about it.