The two words identified by the OP are, in these cases, uncomplicated. More specifically:
- רָאָה (ra'ah) = "to see"
This verb is extremely common in the OT occurring more than 1300 times. Its meanings can be divided into two broad categories:
- to look or see with one's eyes, eg, Gen 1;4, 9, 10, 12, 18, 21, etc. This is the simple meaning in Gen 6:2, 12, 9:2. Men looked at something and God looked at something.
- to observe or, better, understand, ie, mental observation and cognitive recognition, eg, Gen 27:27, 31:50, Jer 2:31, etc.
- בָּשָׂר (basar) = "flesh"
Again, the meaning for this word can be divided into three broad areas:
- the literal flesh of a single human or animal, eg, Gen 9:440:19 & Ex 21:28, etc
- all humans or all animals or all living creatures; that is, the word can be a collective noun for a large number or the totality of living things that have flesh; eg, Gen 6:12, 13, 7:15, 16, 21, 8:17, 9:11, etc.
- to emphasize that a creature is mortal (subject to death), eg, Gen 6:3, etc.
Thus, there is nothing salacious about the meaning of these words in the OP texts. So, let me quote each to see what they are saying.
Gen 6:2 - that the sons of God saw that the daughters of mankind were
beautiful; and they took wives for themselves, whomever they chose.
In some circles, there is debate about the identity of "sons of God" - two options exist:
- the sons of God were celestial/heavenly being such as angels or similar (eg, Job 1:6, 2:1, 38:7)
- the sons of God were those descended from Seth as distinct from Cain (Deut 32:8, 43, Ps 29:1)
In Gen 6 I am inclined to the latter option, but that is my opinion.
In Gen 9:22 we have this:
And Ham, the father of Canaan, saw his father’s nakedness and told his
two brothers outside.
This is quite uncomplicated - Ham sees his father naked - an act forbidden under OT conditions and was punished for it. No sex is implied.
Both meanings exist in the both the OT and the NT - the latter is much more common