Taste
Some different tastes with an example of a typical food

sweet (honey)
salty (crisps)
bitter (strong coffee)
sour vinegar)
spicy (indian food)

If you say something tastes hot it may mean spicy rather than not cold.Food can be tasty but tasteful is used to refer to furnishings,architecture or a style of dressing or behaviour.The opposire of both is tasteless.

Touch
Some good verbs for describing different ways of touching

She nervously fingered her collar
He stroked the cat and patted the dog.
She tapped him on the shoulder
He grasped my hand and we ran
She grabbed her bag and ran
It's rude to snatch
Press the button
Please handle the goods with great care