Actually, any massage
can be erotic
, genital stimulation
I have given massages which were utterly platonic and thoroughly erotic; a nice trick if you can manage it. I have also received same from friends, although the eroticism from those was partly from familiarity and partly from the lure of forbidden fruit.
IMHO, touch of any kind can be erotic...it's all in the intent of the giver and desire of the recipient.