Guys can you cum from rubbing your penis against your gfs vagina without going inside ( both naked)?

I'm just curious bc me and my bc have been doing this basically since we started dating were waiting till Marriage at his request which I'm fine with bc I'm totally satisfied with our " sex life". Of course we do a lot of other things that get us off ghat are not sex but I like the rubbing the best by far bc things in missionary position regardless if who's on top just feels amazing and close and I don't know I guess it's like the position with the most bang for your buck. It's every sense being stimulated at once and bonus it's like sex bu never hurts and can't get pregnant. Anyhow lost of the time I see guys saying they'll do it as foreplay or like in he but it doesn't feel great for the guy and it's frustrating bc he can get blue balls. My bf definitely absolutely cums and I know he's just one guy but considering gys can rub against a tree and still cum it's hard to believe they can't rub abasing a warm moist body they are attracted to and cum. Makes me wonder if someone is doing something wrong or if it's just an excuse to demand full on sex ? What's up?
Updates:
+1 y
Were waiting bc he wants to wait. He had a sexual past he felt pressured into feels guilty about. I'm his chance to start over and he wants to share that in marriage. If it were up to him we wouldn't be doing anything at all but seeing as he's the only person I have been with, there's no way I'd be doing nothing. I'm young and I want experience sexual life. And of course we didn't know we'd marry so if course we were sexual without "sex". Now we know and were waiting. Not really "odd" :-)
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  • yes we can come from rubbing our penis against any proper material including : hands, lips , pussy etc