Benton said it was rare to find children who had been taught a different, healthy view of sex, especially by their parents. And the only time they heard sex mentioned in church was in a negative context — don't do it.
"When the church doesn't talk about (intimacy), we have young people growing up thinking that sex is dirty," says Dennis Hollinger, president and distinguished professor of Christian ethics at Gordon-Conwell Theological Seminary near Boston and author of "The Meaning of Sex: Christian Ethics and the Moral Life."
"Or conversely, because it's so present everywhere, young people grow up without clear convictions to guide them in the midst of social pressures."
Hollinger believes children and adults need to understand intimacy is a "good gift of God, and like all of his good gifts, it finds full meaning and joy when we follow God's designs — not cultural impulses."
Jay Lowder, an evangelist who travels the globe preaching a proper understanding of sex to both secular and religious audiences, likes to use the image of a fireplace.
"When I have a fire in the fireplace, it brings warmth, satisfaction, joy, it keeps me and my family from freezing," he said. "But once it gets out of the place it's intended to be utilized, you've got real danger."
Yet some parents are afraid to bring up that danger because they worry about putting ideas in their kids' heads. It's an irrational fear, says Muehlhoff, especially considering that national statistics show 70 percent of teens have had sex by the age of 19. And 13 percent of teens had their first sexual encounter before they were 15 years old.
Factor in the growing rates of sexually transmitted diseases, the onslaught of pornography and the continual problem of teen pregnancy and it becomes painfully obvious that teens are dealing with sex all the time — and not because mom and dad accidentally pushed them into a talk about it.
Other parents fear coming off as hypocritical, since they may have made some of the very mistakes they'd be teaching against. If that's the case, says Benton, just tell them you don't want to see them make the same mistakes you did.
"Kids can respect that," he said. "Young people really appreciate (adults) being open, honest and transparent."
But the majority of parents remain quiet because they just don't know what to say or where to start.
However, the idea of having "the sex talk" is misleading, says Muehlhoff, who recommends smaller, ongoing talks beginning at a young age, rather than one giant, embarrassing discussion, followed by years of silence.
He encourages using everyday events to begin conversations. One year, he was watching the Super Bowl with his boys and a commercial came on that he quickly flipped away from.
"I remember my boys saying, 'Why can't we watch that one?' " he recounted. "I said, 'It's not good for your dad to be looking at other women dressed like that. I made a commitment to your mom. It's also not good for you. Not that there's anything wrong with attractive women, but dressed like that, you get attracted to them in ways that aren't appropriate."
His boys rolled their eyes and whined — but he wasn't deterred and encourages other parents to stand strong as well.
"Once our kids realize, 'If I can discuss sex with mom and dad, (I can discuss) pretty much anything else," Lowder says. "(Many parents) don't realize that not only do they need to have this conversation to protect their kids, but they're (creating) opportunities to discuss other things and (develop a) rapport by having the sex discussion."
If parents are confused or embarrassed about how to talk to their children about sex, here are some tips from religious leaders and academic experts: