In Florida consent is not an issue for any child under 18 years old. The criminal legal implications of your factual scenario (i.e., not including oral contact or genitalia to genitalia) would begin with Exposure of Sexual Organs, a first degree misdemeanor punishable by up to a year in jail and if the child was less than 16 years old, likely also involve various types of Lewd or lascivious behavior which would be felonies of various degrees, depending upon the conduct. Those felonies would range in punishment from up to five years to thirty years prison. Rather than being a defense under Florida law, the position of the adult as a parent could serve as an enhancer to the crime of Sexual Battery or Solicitation by One in a Position of Parental Authority, if oral or genital to genital contact, or penetration were involved. That crime could carry a penalty of up to thirty years prison, for a child between 12 and 17, or life without parole for a child under 12.
Given the seriousness of the potential punishments and the strongly negative views that mainstream society has regarding sexual activity with children, it boggles my mind that any legitimate groups would view such acts as "healthy/normal/safe". I can assure you that in my more than 20 years of criminal defense and prosecution experience I have found that such views are not "widely held" among juries or judges in Florida.