If you still need any there was a scenario I was going to write, but I'm kind overwhelmed with plot bunnies right now, so you can have this one if you want it.
Fanon seems to agree that Steve knows how to wank quietly enough to do so when someone else is sleeping in the same room without waking them up. Well my thought was take that a step farther, what if someone were in the same bed or a similar level on contact ie: they're separated by inches not feet.
Gives the opportunity to add in a little non-malicious frotteurism as well!

I posted on hawaii5_0slash a while back for prompts about how to get that close. I liked sleeping in the back of Steve's truck best, but your choice if you decide to do it!