Given its sci-fi setting, Futurama has plenty of material for smart gags, so it's a little surprising how many dirty jokes Futurama got away with during its run. Not all the dirtiest jokes on Futurama are explicitly sexual in nature, as creators also managed to sneak a fair amount of drug references past the censors. Sometimes, they even combine the two (watch out for Bender when he's been "jacking on").
Matt Groening is no stranger to adult jokes — there are quite a few in The Simpsons — and it seems he kept those muscles flexed when crafting Futurama. While his shows aren't considered nearly as crass as Seth MacFarlane's Family Guy, that doesn't mean Groening isn't capable of capitalizing on low-hanging fruit.
Lrrr: This jerk chicken is good. I think I will have [Fry's] lower horn jerked.
Bender: It's used to it! Wooooo!
Cartoon fans have since seen autoerotic asphyxiation on Rick and Morty, but modern-day Adult Swim is very different than Sunday night network television from the 2000s. Even so, Futurama managed to slip this extreme sex joke past the network's censors in the 2001 episode "Amazon Women in the Mood."
"Jack off" cannot be said on TV, as it's banned by the FCC. "Jack on," however, is not, even though it's both a masturbation reference and drug abuse joke.
After Fry makes a Faustian bargain with the Robot Devil, the two trade hands so that Fry can play the holophone with masterful skill. However, the Devil actually wants out of the deal before Fry does because Fry's hands are "always touching [him] in places."