Exactly.The thing is, even if in your story for whatever reason both characters can tell that the kiss is welcome, the idea is that you’re setting an example for the teens and preteens reading it that *they* too can *just tell* with their own relationships. We want to encourage healthy relationships where consent is more important than the lusty spontaneous sex appeal.
That said, imagining that another person knows exactly what you want without you having to tell them and gives it to you exactly as you want it is, I think, everyone's sexual fantasy, in one form or another. Which is why it's such a common romance trope. The kind of scene you wrote here is ubiquitous in bodice ripper novels... with the same lack of consent (although we all know she really wants it). No fault if you decided to write that way your first time out of the gate.
Perhaps it would help to approach it this way: what do you find hot about this scene? How might the element of mystery, and the part where he knows what she wants and gives it to her, work with explicit consent in the picture?
Another way around it, although it might not work so well if you intend this to be a YA novel, is to include a disclaimer, up front, that what you're writing is fantasy and not recommended in reality (insert plug for consent here). You'll see that kind of disclaimer with erotic stories online, especially if they involve kink. Arguably, him coming up to her masked and silent, getting her up against the wall, and caressing her without a word is a kink scene. But, if you take it in that direction, it's definitely not suitable YA fiction!