We can make love with our bare hands
Their love is so strong that physical sex does not matter. They are so in love that through a simple act as holding hands they can gain as much connectivity emotionally as other couples feel during sex. Or perhaps his relationship is not going so well, and Frank is trying to suggest any form of close contact that may bring what they once had back.
To help improve the meaning of these lyrics, visit "Back" by Frank Ocean Lyrics and leave a comment on the lyrics box