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The trick is to make the plot and attitudes of the characters as sexy as possible without ever putting them into sexual situations. The closer you get to this the better you are at creating something distinctly "sexy" without making it pornographic.
Pic related, Nisio Isin's work is usually full of really sexy situations and characters without ever falling into mindless fanservice.
Failing that kind of talent, just make sure nobody ever actually sees a dick.
