http://www.mangago.me/read-manga/hang_out_crisis/
i think this one fits pretty well with your description
ლ(´ڡ`ლ)
I don't know how you can 'accidentally' jerk each other off but--- here's a couple of straight guys that are best friends. One of them needs a prostate massage for medical reasons and the only one he count on to do so is his friend.
They both REALLY didn't wanna do this but they naturally fell for each other. The uke or seme aren't assholes so you don't have to worry about one being a dick while the other suffers. Incredibly comedic and wholesome.
http://www.mangago.me/read-manga/shinyuu_tte_soko_made_shinakucha_ikenai_no/
just bros being bros, dudes being dudes and jerking each other off while one has pantyhose on http://www.mangago.me/read-manga/jackass_sawatte_ii_tte_dare_ga_itta_yo/
classic straight guy “womanizers” doing non straight things (kind old art style but i like it!) http://www.mangago.me/read-manga/50_x_50/
technically one of the guys likes the other but this story cute af and you should check it out anyway http://www.mangago.me/read-manga/toriaezu_kiss_shite_kudasai/
I think everyone knows this one but I LOVE this story so! much! literally paced and written so well http://www.mangago.me/read-manga/golden_sparkle/
really sweet story http://www.mangago.me/read-manga/atatamete_kureru_hito/
http://www.mangago.me/read-manga/mikami_to_sato_wa_mada_yamashikunai/ !! pls read this !
humm…
then then how about http://www.mangago.me/read-manga/jackass_sawatte_ii_tte_dare_ga_itta_yo/ ?
Any yaoi where there’s two straight guys but something “accidental” happens ( for example accidentally kissing, jerking each other off, or even sex) and then they fall in love with each other.
Also I would prefer if the art was good and didn’t look like something from the 2000’s ( example of art I don’t want: sekai ichi hatsukoi)