Carefully. Most have hard, solid metal soles. Some may even have small, sharp points on the undersides of their pedes, especially miners and construction workers. Also, claws happen sometimes.
Sneakier-frame Cybertronians, though, sometimes have silicone pads on the undersides of their pedes. Nice, soft, solid enough to add some good friction.
Basically, it depends on the frame.
Tempo has pedes that fork into two claws each, plus soft pads that are lightly ridged. He’d be great for pedejobs. Could rub those pads over someone’s valve, too.
Avalon has spines that extend from the undersides of his pedes if he tenses enough, plus large, heavy claws, and no padding. Probably not a good plan to put a dick near there.
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