I usually say, "Do you hug?" Unless I'm talking to a small child family member or friend, in which I'm more explicit: "Would you like a hug? Or a handshake? Or a high-five? Or not?"
Happened more than once that the kid shook their head, and then, upon realizing that I was ACTUALLY RESPECTING THEIR DECISION WITHOUT BEING THE LEAST UPSET OR AWKWARD, then changed their mind and decided that they DID want a hug.