At what age are they old enough to consent? In our State? or another? Nothing is clear, everything is nebulous. If "She" consents in a State where 14 is the Age of consent,
would this 19 year old kid be off the hook? 
"Our society teaching boys that they can treat women like objects is the problem" and How do "we" do that? But in your next breath you may extol the benefits of "empowering women" and "Their bodies are their own"- as arguments for being a nude dancer, or such...clearly a conscious decision to be an "object".