Yes

The Doctor reached into his pocket and pulled out the key to the TARDIS. Opening the blue Police box the Doctor and Rose stepped inside. The Doctor walked towards the central console, flinging his coat over a girder as he did.

He pulled a lever, which Rose had never seen him use before. The floor between the console and the door parted and a double bed rose through the gap. Being the Doctor, the bed was oak framed, and covered in white satin sheets.

He picked Rose up, and laid her down on the bed, kissing her once again. He started to slowly remove her clothes, her sweatshirt, her top then her bra. He kissed every inch of flesh as it was uncovered. He spent more time on Rose's fantastic breasts, licking and sucking at the hard nipples until she was moaning in pleasure.

The Time Lord carried on stripping his assistant. Off came her shoes, jeans and panties. Now the Doctor spent a long time examining her vagina using his long fingers and tongue. He was rewarded by cries of pleasure from Rose, as she used her hands on her breasts. As he continued to lick her, Rose orgasmed, spurting her sweet juices into the Doctor's waiting mouth.