Can I say "to touch" instead? As far as I know "touch" can be also a noun.
In general, yes you can say "to touch" because, as you said, "touch" can be a noun. However, in the context of this video, because the narrator is describing the action she's using the verb form. If you were to replace it with "to touch", the noun, this sentence would be grammatically incorrect. Ex: I want to touch the rabbit. Ex: She is touching the rabbit.
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