Um, yes? People do it all the time? In fact, not-licking is usually part of the average solid friendship. Even if that friendship-love develops into something more personal and physical, licking is not required.
The Bible mentions love between spouses, love between children and parents, the love of God toward His people, and the love that causes a person to die for a friend. Jesus even tells us we should love our enemies,
even if we don't like them.
But nowhere does the Bible tell us to lick someone we love.
Nope.
That's not in there.
Unless your friend is a dog! Then your friend can lick you, but I wouldn't suggest you lick her. Unless you like fur on your tongue.