Yes, anything related to sexual content is consensual in the game!! ^^ I don't endorse/feel comfortable writing otherwise.
You'll have to manually turn on the NSFW scenes (as they're turned off by default — the game is intended to be played without them), and there will also be very clear "18+" indicators to let you know that your choice will go down the NSFW path. You also have the option to avoid these scenes entirely, so no one is pressured into viewing them if they don't want to!!