Thank you to the folks at TAP in Rockford for bringing this curriculum to my attention!
“Intimate Relationships and Sexual Health” is a curriculum written by Catherine Davies and Melissa Dubie who are affiliated with the Indian Resource Center for Autism.
“Intimate Relationships and Sexual Health” is geared toward folks who are pretty independent and have few intellectual impairments, so it’s not for everyone. But they do do a nice job of showing how to think about lesson planning that would apply to anybody. You can see a fair amount of the curriculum on Amazon to see if it might work for you.