I'm looking for manga which contains one of them sucking d through clothes
or like one of them uses others legs as a pillow and may pretend to sleep, then slowly moves towards zip.

Hidoku Shinai de dj - Imasara Briefs no Miryoku ni Kizukimashita. is a great example of this. It is an official dj, but you don't need to read the source to understand the plot or characters (though I totally recommend it if you haven't!)