Physically you can but I believe the final word should be your wife's.
Yes!! We can rub penis on breasts !! Even we can spill our semen over it !!
Better ask your wife. She may, or may not, like that.
It's not that uncommon, but If you don't want to then he should respect that.
You rub your penis or vagina.
breasts and penis
they turn yellow
breasts and penis
No they do not.
You rub her first on her boobs the you pull down her pants and rub your penis every where around there and maybe have some sex.
with your hands
If she has her top off, you could drag your penis down her cleavage. You could press her breasts together as you work your penis through the cleavage. And if that arouses you to ejaculation, you could release your ejaculate wherever she likes - perhaps on the breasts or her face if she is into that.
Put some water based lube between your breasts and place your partner's penis between your breasts, hold them together making some pressure on his penis and start to move them up and down.