tin·gle intransitive verb \ˈtiŋ-gəl\
: to have a feeling like the feeling of many small sharp points pressing into your skin
:to feel an emotion (such as excitement) very strongly
So now you know there’s a word for that “soothing sensation” you describe whenever you brush your bare shoulder to my poorly-shaved chin.
Although you girls don’t have stubble, may I say that the feeling is mutual.
Tingle. Word suggested by Austell Tumampos.