This is interesting, because it appears that the original intent with the coining of "sensuous" was to avoid the sexual connotation, but by the late 19th century, the understood meaning for both converged back to that.
Based on the history of the word, it looks like "sensuous" would be more fitting, but it still suffers from man's inevitable tendency to veer toward hearing or reading the sexual meaning, if there is one.
From About.com Grammar and Composition, where a fuller explanation can be found:
The adjective sensual means affecting or gratifying the physical senses. Sensuous means pleasing to the senses, especially those involved in aesthetic pleasure, as of art or music. But as explained in the usage notes below, this fine distinction is often overlooked.
From Etymology Online,
sensuous (adj.) 1640s, "pertaining to the senses" coined (from Latin sensus) by Milton to recover the original meaning of sensual and
avoid the lascivious connotation that the older word had acquired by
Milton's day, but by 1870 sensuous, too, had begun down the same path.
Rare before Coleridge popularized it (1814).
sensual (adj.) mid-15c., "of or pertaining to the senses," from Late Latin sensualis (see sensuality). Meaning "connected with
gratification of the senses," especially "lewd, unchaste" is attested
from late 15c.
sensuality (n.) mid-14c., "the part of man that is concerned with the senses," from Old French sensualité, from Late Latin sensualitatem
(nominative sensualitas) "capacity for sensation," from Latin
sensualis "endowed with feeling, sensitive," from sensus "feeling"
(see sense). Chiefly "animal instincts and appetites," hence "the
lower nature regarded as a source of evil, lusts of the flesh"