In most episodes, there is sexual innuendos, but kids will most likely not notice. For example, in one episode, YAY-OK (the robot) wants to "exchange information" with a robot with a crush, and one episode, titled "Tail Fail", could even be described as an innuendo.
Also, in one episode, the Rocket Monkeys stick their hands in an alien creature's butt, albeit accidentally.
In another episode, the Rocket Monkeys sexually harass Lord Peel by telling him to "take off his peel".