I'm actually working on a book on this very topic.

So far, I have 3 major picks:

Zercher Lift. Work this up to the weight of your girl+25lbs for reps and you will carry her in your arms easily. Romantic!

Kettlebell swing. Hip drive, hip drive, and more hip drive. One of the best cardio tools around, as well. THE exercise for improving your sexual ability and stamia, imo.

Dive Bomber pushups. works the shoulder girdle in the manner we usually find it for several sexual positions, and it will loosen up your hips and back as well, which will make other positions more comfortable.

Those are my picks for top 3 most bang for the buck exercises.

I like to consider myself a martial AND venusian artist.