Can you date someone over 18 and be under 18 but no ual stuff?like etc.?

I was just wondering cause, I thought it was illegal to be like 16 and dating a 20 or 21 year old. Isn't it? Like what if its a 14 year old dating a 22 year old? Can you date or will they be put in jail? And can you kiss and,hug, and hold hands? as long as their is noooooo ual context and you parents approve?