When I taught my kids (now adults) about sexual relationships, we didn't talk to them about "consent". We talked about having mutually respectful relationships where both people are happy and both people are getting what they need. We talked about communication and we talked about caring about other people's feelings. When you are raising kids it is a long term conversation that takes place over years rather than a simple message over a few minutes.
Both of my sons have done well in their relationships.
I think this is missing in what is now being taught in schools and colleges.