I know the English GBC versions of DQ1-3 called it a "Puff-Puff Massage" without going into further details, apart from some suggestive "dialogue" after the screen blacks out. Bowdlerization? Maybe, but you've pretty much got two choices here: spell it out, or pile on the innuendo.
FYI, I'm...fairly sure it first appeared in Dragonball. I'd need to double-check the publication dates, but in one chapter, they enlist Master Roshi's aid by offering to have Bulma flash him. When it comes time to pay up, Bulma gets the shapeshifting perv Oolong to stand in for her...and rather than a simple flashing, he offers him "puff-puff". It all goes down off screen in a single panel, but he does explain it, and it's exactly what you described.
Bottom line: just put down "puff-puff" or a "puff-puff massage" and call it a translation. Anyone familiar with Dragon Quest will recognize the reference, and those who don't...well, they're not losing out on anything anyway.
EDIT: Also, unless the title's spelled out in English already, I suggest you call it "Pocketsaurus" or something like that. "-zaurus" is the result of a quick of the Japanese language where the first syllable of the second word in a compound gets voiced.