Sora would try to ease them into the idea, not so scandalously.
Oh, look at that! Sora couldn't help being very pleased. Riku was so tall and handsome and did so well at being polite and kind, it just tickled Sora's inner imp to make him turn so scarlet like that. "I would return the favor," the Prince offered with a grin. "And wash your back if you would let me." Yeah he'd do that too. But he'd also have his hands on Riku's skin.
Roxas was grinning so hard his face hurt, and he said to himself that he had to try to flirt because despite Hayner technically being his servant and him a high-born Lord, Hayner OFTEN had one up on him. Especially in wit. So for him to actually play like this, Roxas had to at least pretend he was an impressive Lord that could seduce a boy if he so choose. "Patience, I will show you exactly how to dance." He wrapped Hayner's hand around his shoulder and stepped in close, trailing his fingers down his arm. "Take my hand," he said quietly, sliding his hand into Hayner's and lacing their fingers together while he wrapped his arm around his waist.
Roxas was a good dancer, but he knew that Hayner knew how to dance. So he could just lead and the other would follow, even if he was pretending to teach him. "You only have to follow my lead, and I'll take care of you."