The human body is beautiful, made by God. I don't think it's wrong to lie nude with someone of the opposite sex, as long as we don't have sex. In the Garden of Eden, they were naked.
Scripture gives many examples of men being enticed by the sight of a woman.
Shechem saw the woman before he raped her. David saw the woman bathing before he had sex with her. Judah saw the harlot before he had sex with her. Same thing with Samson, etc. And when Shechem the son of Hamor the Hivite, the prince of the land, SAW HER, he took her and lay with her by force.