kisi

The object of kisi is the person, and the place goes in a prepositional phrase: ŝi kisis lin sur la vango. Say ŝi kisis lian vangon and you have kissed a cheek rather than a man, which is grammatical but slightly clinical. For each other, Esperanto uses unu la alian, with the accusative on alian because it is the object. The noun is kiso, kiseti is a peck, and interkisi handles a mutual kiss in one word if you would rather not spell out the pronouns.