As in, I've figured out how to do it. (Probably the last one here to do so, but am sharing just in case.)

When two figures touch, there SHOULD be some "give" in the skin surface of the figure being touched. Arms, legs, chests all have a fat-covered surface that should "give" against fingers.

My method is to pose the two figures with the fingers of the gripping figure actually penetrating the skin of the yeilding figure. Next, I use the morph brush to push the yeilding figure's skin back from the fingers. Next, I use the tighten tool (selecting the yeliding figure as the cloth and the fingers as the target) to get the skin to curve around the fingers. (You want the Pokethru Margin set to 0 for this step) Last, I use the smoothing tool to make it all look natural.

There's probably an easier way, but I know now my couples and fight scenes look a lot more realistic!

I'll be happy to create a mini-tut with screen captures if there is any interest. Also, if anyone can tell me an easier way, I'll take that with sprinkles on top!