You’re physically touching molecules of air and water vapor that got heated up by the cup. And also physically touching infrared photons emitted by the cup. The sensation of hot and cold is technically the sensation of receiving or losing energy of your body particles jiggling around.
That said, the other commenters are also right in that “touch” is just a catch-all term for all the different types of receptors our skin has
Nomad@infosec.pub 2 weeks ago
But it is. Heat is nothing but very fast Brownian motion of particles. So the kind of very warm light touch comes from fast moving particles in a gas emanating from your cup of Joe and touching your upper lip.