Sensual and Sensuous can both mean “associated with the physical senses, especially the sense of touch”:
Jake and I admired the dancers’ sensual/sensuous movements.
However, in the sentence above, the words have different meanings.
Sensual refers to the sensory or sexual pleasure enjoyed by observers of the dancer. While sensuous refers to the aesthetic value (the beauty) of the physical movements:
Many people enjoy the sensual /*sensuous stimulation of practicing yoga.
The combination of music and images makes film a powerfully sensuous/*sensual art.
Sensual means “associated with the pleasure of physical senses”—as opposed to the spiritual. In earlier times, it had very negative connotations among Christians, and sensual can still negatively describe a person who is devoted to physical pleasures; however, sensual is not considered negative, in general, anymore.
Sensuous can substitute for sensual, or refer to the beauty of physical forms, or just mean “relating to the senses” or “made of sense-impressions (e.g. images, sounds, flavors).”
Often, art can be sensuous without being sensual. While eating would be more likely sensual without being sensuous.