The milk man in our neighborhood drove a truck. He'd let us kids (about age 7 or 8) ride in the truck hanging out the doors and "sneaking" chunks of ice from the milk bins to chew on.
Nobody died, no one was injured, Our Moms thought it was a great thing for kids to do. And the milk man was not thought to be a pedophile just because he was a man who liked kids.
I hear ya...I always feel like someone is wondering about me when I toss the football out in the street with my 11 yo son and his friends...sad times when I have to worry about that.