Licking
Kima licking her nose
Licking was the act of using one's tongue to touch or manipulate objects, such as food.
According to an account that was anything but canon, the USS Enterprise made first contact with an alien race whose customary good-bye was to lick their eyeballs. The away team, led by Commander William T. Riker beamed back to the ship before they were able to do that. (VST: "Worst Contact")
One who ingratiated themselves to another in a flagrant way and demeaning way could be said to lick the other person's boots. (DIS: "Despite Yourself", DS9: "Playing God")
In 2381, Doctor T'Ana licked an ice cream cone on Apergos. The ice cream cone was originally a hypospray, but Jack Ransom used strange energy to transform it into an ice cream cone. (LD: "Strange Energies")
In 2382, Lieutenants jg Brad Boimler and Sam Rutherford, scrambling to clean a michelada spill off the transporter console with no access to proper cleaning tools and with Dilmer III's temporal differential amplifying the delay for an away team on the planet, resorted to licking the spill off after their prior attempt to wipe the drink off with their shirts concentrated it into a goo. (LD: "Fully Dilated")