If you're the type of person who like to loll back in a full length bubble bath, perhaps with a glass of Chapagne nearby and the radio on playing wonderfully relaxing music then you are enjoying a sensual moment. You are, in fact, enjoying at least three of our five senses of sight, hearing, bodily feeling (including touch) taste and smell. As the previous writer said, sensual can involve sex but not necessarily so.
Enjoying a scene is sensual. Enjoying music is sensual. Having a body massage is sensual - yep, and it might not even involve sex. A sensual person is one who is aware of the senses. Yes, I know, in most books it infers a propensity towards sexual acts but, wonderful as good sex is, sensual is not exclusive to it. Okay?