There are instances of infrequent but somewhat strong sexual slang and innuendo in scenes involving Theo and his group of friends.
There is one episode in which the central storyline is that Rudy has her first period.
In season 7, ep. 3, "The Last Barbecue", the central storyline is that Martin is having a bachelor party, and then women in the house are outraged because Theo called in a stripper. There are frequent talks throughout this episode about strippers and how they manage to entertain men.
There are infrequent talks of pregnancy and birth related topics due to Doctor Huxtable's job as a gynecologist.
Also, there is a young character in the show who infrequently and very innocently asks questions about somewhat sexually undertoned topics. However, the adults in the show answer very humorously and sarcastically, so it might go over the younger audience's head.