Moving slightly off from stranger rape, but still applicable, if you want to get really wild and innovative, you can teach people, starting as young as possible, about consent. What it is, what it isnt. That its not embarressing or weird to ask "is it ok if..." or "do you want me to stop?" Etc. That consent should be enthusiastic, not reluctant. That unconcious people cannot consent. That you cant assume consent, ever, even if you have had sex with a person a billion times before. That consent to one thing is not consent to all things. And that consent can be withdrawn at any time, regardless of how naked you are, or wether you are already having sex. Because actually, these are not lessons that people are having. Some people genuinely dont get it. And the more you teach it, the less we will see these so called "grey area" rapes, where men claim they didnt know she didnt want it. If you are expected to make sure the person you are with actually wants to have sex then that will be no defence at all.
My ex bf had some body issues and disliked being touched, and found sex really challenging. It absolutely did not "kill the mood", or whatever, to ask him "can i touch you?", "is that ok?", "do you want to have sex?". Knowing his own issues, and mine, with regards to being a survivor of rape, he did the same. If either of us sensed reluctance, we stopped. We both knew that every time we had sex that we both really, really wanted to do it. How is knowing that NOT considered sexy?