Teaching your children about sexuality?

This may be a random question, but I’ve been thinking a lot lately about how some parents don’t talk to their kids about sex and most don’t talk about sexuality. How would you/have you gone about talking to your children about sexuality?

I feel like because I didn’t understand how women’s bodies can be sexualized and often didn’t feel comfortable asking questions about sex there are so many things I learned the hard way. Like even with simple things the way a parent explains something can impact a child’s body confidence and understanding of sex for the rest of his/her life.