Here is a great blog written about consent. Although consent is often associate with sexuality and physical touch, it's true that boundaries and consent apply to all our of relationships both professional and personal.
It's part of healthy self esteem to assert your boundaries and communicate when things are not right. This is theme we often work on in psychotherapy. You'll know the relationships worth having respect your boundaries and consent is respected.
And, the "Cup of Tea" video is perfect to explain nuances of consent.