You're definitely over-analyzing way too much. People like to be touched. It adds more emphasis to the situation. One of the first things we learned as babies was kino. The love, touch, and nurture from our mothers. It's one of the first things we learned, and it's so natural, yet we make it so much more complicated than it really is. Society is just trying to frame us into thinking that touching somebody without permission is wrong and unnatural. This is not the case. Girls give off plenty of subtle invitations whether you notice them or not. If your sitting next to a girl and her hand isn't in her lap, rather on her side that's a very good indication that she wants you to hold her hand. If a girl is looking at your lips a lot, that's a good indication she wants you to kiss her. If a girl is lingering around a lot during a good bye, say's she cold, etc.. that's a good indication she wants a hug or for you to hold her. If a girl talks about one of your body parts that's a good indication she is looking for an excuse to touch you. Example, "Wow, you have really big muscles" that's your cue to lift up your arms and invitingly flex them allowing her to touch them. Another example "Wow, you have really big hands" this has been a kino mechanism sense the beginning of time. We've all held our hands next to a girls and compared sizes. But in all honesty. I don't even want you to think about any of that, because it seems like your main problem is over thinking. You need to find a way to develop this naturally. I would suggest practicing on other people. Maybe your parents, or co-workers, or people you run into at the market place. It doesn't have to be sexual kino, just make it a key to touch people when emphasizing a point. That's a good start. Don't be afraid to do it on men either, it doesn't mean you're gay. Grab your buddies shoulder next time you offer him a beer. Shake his hand, give him a hug.. You just need to get use to touching people. You'll eventually start to realize there is nothing unnatural or wrong about it.
Best of luck.