Yes. We try to teach consent with my young children. When one is doing something to the other and they shout "no!" We point out that they are not consenting to whatever the other is doing.

Also, we have a phrase to help empower our children to say no when they're being tickled and no longer want it. We say, "no mas manos" (no more hands). They can also say "no," "stop," or any number of other things, but we've used this phrase to make a point of it. Sometimes they say no mas manos and then when we stop they say "mas manos" or "yes mas manos." To them it's a bit of a game, but to me they're getting to learn that it's exactly like a switch. When the switch is on, tickling is welcome. When the switch is off, tickling is no longer welcome and should immediately stop. They can choose for it to be on or off any time, and can switch in rapid succession--they get to decide.