Buy an extravagant feather duster- not a boring domestic-looking one, but something completely frou-frou (you can get big ostrich feather ones that are glorious). Put on the costume, and get him to lie on the bed. Parade around the room, pretending to dust but really showing off your body, bending over artfully, and stretching yourself. It helps if you have some louche music on to move to. Slowly - very slowly - move closer and closer to him. Talk to him all the while as if you're a maid anxious to do a good job. Tell him what a handsome, attractive 'employer' he is and how much you like 'working' for him.
Once you're close, look up at him innocently and ask him if there's anywhere he'd else he'd like cleaned, while brushing your duster against his body. Then take a single feather and tease him with it.
I'm sure he'll be more than ready to take it from there! :)