Here on American television you do see condom ads that are certainly rated PG. In the last year or two the Vaseline adult products have popped up, no pun intended. I would say that they are done tastefully. A French ad agency has come up with a new ad campaign for condom maker Durex. It may not be long before the ads start running in America.
The folks at Durex and the ad agency believe subliminal sex sells. Take a look at one of the commercials. Warning it's a bit crude.