Is it permissible to have intercourse with one's wife outside the vagina, and is ghusl required if semen lands on her body without penetration, and can a cloth be used for ejaculation?

A wife must respond to her husband for intercourse at any time, as long as it does not cause her harm. A husband is permitted to enjoy his wife in any way, except for anal penetration or vaginal penetration during menstruation. If a man fondles his wife without penetrating her vagina and ejaculates, he must perform ghusl (ritual bath). She is not required to perform ghusl unless she also ejaculates. If a man inserts the tip of the glans into his wife's vagina, both of them must perform ghusl. Semen is pure, and the wife is not required to wash what touches her body from it, but washing it is preferable to avoid scholarly disagreement.