fleshy
Thick, soft, and plump with lots of flesh or tissue.
Fleshy describes something that has a lot of soft, thick flesh or tissue. When you think of a fleshy part of your body, picture the soft pad of your palm or the round part of your cheek, places where there's substantial soft tissue rather than just skin over bone.
The word often describes plants too. A fleshy cactus has thick, water-filled tissues that feel substantial and plump when you touch them. Fruits like peaches and plums are called fleshy fruits because they have thick, soft, edible parts surrounding their seeds. Tomatoes, grapes, and mangoes are fleshy too, with juicy interiors protected by thin skins.
You might also hear it describing leaves. Some succulents have fleshy leaves that store water, making them feel thick and heavy compared to thin, papery leaves. The word suggests something substantial and soft, with real heft to it, rather than something thin, bony, or dried out.