in the newest build 0.1.21.0 it is possible yes.
If that's the version you are playing then go fight the Orc, make sure you have Vault, use it and then vault over, you can then use the 69/ouroboros option.
Facefuck and Blowjob you can initiate on certain enemies, i'm sure you can on the Goblins, make sure they are aroused and on the ground, not sure which position either prone or on their backs, fiddle with it a bit. you'll get there.