Sounds what you want is either Ricks or Downtown Cabret, fka Schiecks.  They both have beautiful girls, alcohol, and depending on who you dance with many will allow touch, as always YMMV.  SInners, CHoice, vu, are all nonalcholol bars and most of the girls are very young.

If play means a good chance you'll have an accident in your pants then I don't think Ricks or DT Cabaret is gonna work.

Try Redstone in Eden Prairie, lots of cougars looking for the younger guy.

Choice across from Sex World is full nude but no alcohol. Girls can get really nasty during the day and night too with "anything goes" if that is what you like. Get the private dances and stay away from VIP.

Downtown Cabaret (Schieks) can be a lot of fun and classy at the same time. Topless only with alcohol. Many girls will allow lots of skin to skin contact without crossing the line. Hangout by the VIP area or the bar and watch which girls allow more action, then choose them.

Take cash only and use cash only at both places is my advice.

Fat Jack's Cabaret in Bock is well worth the trip. Reasonably priced drinks, usually fairly attractive dancers, and they do their best to try and leave you with a wet spot in your shorts. All for a fair price.