As someone pointed out, it’s not supposed to be erotic. The tingles that it causes isn’t caused by erotic stimuli, it’s a very different kind of tingle. Which doesn’t mean some ASMR can’t be erotic, I’m not saying that. Speaking for myself, the tingles I get are mostly around my face and eyes, if that makes sense. Not my fingertips, though.
Not sure if that’s the name of the poem. It’s been (mis)attributed to a T.S. Watt, called “English”. A similar poem is The Chaos by Gerard Nolst Trenité, here read by Youtuber Lindybeige.