You sound inhibited. If my woman came in and wanted to sniff me, I'd all over that like white on rice and reciprocate. If she had a hot friend that also wanted to get in on this, why the hell not? Trading underwear will eventually lead to trading fluids, and that is nearly always awesome.
I had a buddy that kept a stash of underwear of the girls he'd get with, which of course he'd sniff and enjoy at any given time of the day. Little weird? Maybe, but if it's at home, maybe not. He offered me some jerk material but I just laughed it off. Then he threw his cleanup towel at me and I kicked his ass
On a side note, if you'll try a little harder to keep the sentences coherent next time, it will help A LOT with understanding what you're trying to convey.