It might be very little touching to Derek, but Stiles is half a decade younger, and not nearly as experienced, and Derek is hot like burning and completely capable of bearing his weight, and Stiles might have be developing a kink for the way Derek can completely manhandle him.
"...oh my god," he says again, his tone somewhat disbelieving, even incredulous. He tries to lean back into Derek's hands and push forward at the same time, seeking friction and relief for his trapped cock, hard and straining against the denim, and makes a soft noise that some might call a whimper.
"Shit. Derek," Stiles' tone is pleading. "God, I need...I don't want to come without even kissing you," he says in a rush, embarrassed but determined.