[smudgie]

Communication is great.
Talk to baby and say we are getting that nappy changed etc.
As to teaching consent from an early age...it can backfire
I told both my kids never to be frightened to say no if they were asked to do something they weren't happy with.
So, come sports day at primary school my very stubborn daughter told her teacher she wasn't doing it as she didn't want to, and that was just the start.