In a word, no.
No reason at all for concern
STD transmission occurs when one partner has an infection, and one of the following happens -
* mouth to genital contact (performing oral on a vagina is really low risk compared to performing oral on a penis, as the penis goes into the mouth/throat)
* genital to genital contact, unclothed, with rubbing/grinding - this would be like your penis rubbing against a vagina. Infections like herpes, syphilis and HPV need friction in order to transmit, so your naked cuddling wouldn't transmit anything, even if your genitals did touch.
* genital to anal - think anal sex, or rubbing or grinding, for the same reasons above.
Hands, as in mutual masturbation, never transmit infections like this.
I'm sorry you're feeling conflicted about this. Religious beliefs aside, your sexuality is a normal part of you. Your religious beliefs may govern how you act on those feelings, but the feelings are normal.