Perhaps most “spiritual gurus” out there will not take this topic into consideration. It is a taboo.
For most individuals, pleasure through the senses is confined through moral standards and preconceptions of what is “good” and proper and what is “bad,” sleazy.

Our senses and the pleasure that they can bring harmonize our existence in the physical plane. Sensuality, sexiness, eroticism, seductiveness, etc. All words relating to sensuality. “Sinful” is the connotation most have in their minds.
Because of ideals of morality and prudishness; the simple enjoyment of our senses is limited and even avoided. 

Out of all the pleasures that man could enjoy, to eat is considered “good” by most cultures.
As other senses are included, restrictions will arise. Pleasure becomes a mental task limited by imaginary lines. Fulfilment is not experienced through these self-imposed limits which appear through our conditioning.

What is the result?
A human who is incapable to relax, to enjoy. Deep enjoyment is deep relaxation.
Our society has been conditioned to accept that to endure pain and suffering is a way to show “spiritual maturity.” Pleasure on the other hand, which is the other side of that duality; is dismissed or secretly embraced.
Sex is one of those pleasures which humans have looked for ways to control, deny or splurge on in the name of “spirituality.”

The acknowledgement of sensuality starts in little things: walking in grass barefooted, taking the time to smell the fragrances of flowers, swimming in the Ocean unencumbered of thoughts,  taking sunshine and becoming aware of the Sun’s rays caressing your body, etc.
When pleasure takes effect, an automatic relaxation will be felt as our breathing slows down rhythmically: We have surrendered to that experience. The moment will cease to be when pleasure transforms into uncomfort, even pain. That is the natural course of this duality.

Nevertheless, for most; it is the mind and thoughts which will end the experience in a premature way; thus there will be unfulfillment.

This continuous state of unfulfillment craves for more pleasure to counter pain/sadness/anguish/anxiety therefore, addiction sets in.
An addicted individual will end up hurting himself. That is why our moral standards, our prudishness is there as protection, but the emotion of guilt is the outcome.
The culprit is not pleasure or sensuality. The issue is our constant thoughts who will not allow us to enjoy.  Thus, “(I can get no) satisfaction…”  🙂

Therefore, many “new age” spirituality concerned with “freedom” of expressing ourselves and sending the message to the masses to “liberate themselves” through the experience of sensuality; are missing a very important point: When there is mind, there cannot be fulfillment. Without fulfillment, there is no joy. Thus, inner awareness of our mind, beliefs and traumas is the first step, without it there is exhausting debauchery.
Sensuality starts when the mind ends. That state of “spirituality” hasn’t been experienced by many.