There was a joke I first read in 1978 or so that described three Indian squaws; one gave birth to a boy on an elk hide, one gave birth to a girl on a deer hide, and the third gave birth to a boy and a girl on a hippopotamus hide. Thus, the squaw on the hippopotamus equalled the sum of the squaws on the other two hides.
About ten years later, there was a big CLICK! sound in my head.
I can’t understand why you guys are seeing any sexual subtext to it at all, nor is it a particularly subtle joke:
Bart: Wow, you can do anything out here!
Homer: That’s right. See that ship over there? [points to a ship with a large satellite dish on it] They’re rebroadcasting Major League Baseball with implied oral consent, not express written consent – or so the legend goes.
Yes, “willie” is a slang term for dick, but it also happens to be the name of the janitor. Why would Homer think it would be a good idea not to touch his willie? It makes no sense as a double entendre. Rather, Homer knows who Willie is, and doesn’t want to touch him . . . which would be reasonable.
The joke doesn’t have to be completely transparent to the character to be a double entendre. To Homer, “Do not touch Willie” was just good advice. It was also funny to US because it said “do not touch willie,” haha, it’s a sex joke. Just because Homer didn’t get it doesn’t mean it wasn’t a joke. He’s not that sharp.