During the audience Q&A portion of the panel, a fan comes up and asks Erica Durance and Justin Hartley the question "...how do you prepare for those steamy scenes?"
Here's their hilarious response
And yes, there's typo's, I know. And I also recorded off the projector screens they had.
At 0:58, I typed
"But they make it a lot easier than sad scenes like that"
It should actually be
"But they make it a lot easier to have scenes like that"
...I was really sleepy when I subbed this ahahah.