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When someone has sex with some inanimate object that resembles a human (i.e. doll, scarecrow.)Although it usually becuase of the term cloth refering to dolls it also refers to anything wiht a humanshape form that is of the non-existant inanimate.
"Nijia was caught having cloth sex with that damn stuffed bear again"

"The old man had sex with his raggedy ann doll more than twice in his lifetime and he was not afraid to admit it in front of the entire class for "bring-a-homeless-pe rson-to-school" day.
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A cloth used to wipe the sex juice off your pecker
"hey baby grab me the sex cloth when your done pissin"
sex cloth by Anonymous34448 September 19, 2008

Clothe Sex 

Putting your finger in your clothes and putting them through someone else's shirt like that
fucking clothes like this: Putting your finger in your clothes and putting them through someone else's shirt like that which is clothe sex
Clothe Sex by Backdoor.x.Killer December 13, 2008