We take walks and she has to stop to hug rocks and trees. :)
We don't have any pets and aren't allowed any so DD tends to show her affection to her stuffed animals and baby dolls, as well as any creepy crawlies she finds inside and outside.
She was at my mom's and was making a bug habitat out of various pieces of wood from the deck my stepdad was making. She adorned it and stuffed it with leaves for decoration and a bed for the bugs. When she finished, she had a spider on her arm so she picked it up and put it inside the habitat, no squealing or squirming.
I just found a beetle inside and she picked it up and brought it outside for me.
She's learning what spiders are poisonous and always asks to pick it up if she finds a new creature. She learned a few weeks ago that bees don't like being picked up and cuddled.
She's also helped a few friends get over their fear of bugs, simply by being unafraid herself.
My 4 yo is less afraid of insects and bugs then I am. She makes friends with slugs, caterpillars, June bugs, ants, worms, beetle, spiders, etc etc.