For taste, we had a taste-testing party. We focused on three flavors (sweet, sour, salty). I loved the faces they made when trying the limes.
For touch, we passed around socks with hidden objects inside. The students drew a picture of what they thought was inside the sock. They were so excited when I revealed the object and they had it right.
I found some great resources and ideas online from Little Giraffes and a free mini-unit from Mrs. Wills Kindergarten.
I would love to hear what your favorite activities are for teaching the five senses!