The book says it "can" happen. Does it say it "should" happen? (Not that it's a good idea to discuss these things with young children anyhow, other than general warnings about protecting themselves from molesters. Curiosity killed the cat.)
Based on the context of the paragraph, saying you "can" receive sexual pleasure through rape means it is possible. Since there is no attempt to discourage it nor any attempt to discuss the negative implications of such an act (or any other of the acts mentioned), IMO it is implicitly condoning the act.