The Prophet ﷺ used to embrace me during my menses. He also used to put his head out of the mosque while he was in Iʿtikaf, and I would wash it during my menses. (Using translation from Bukhārī 2030)
كَانَ رَسُولُ اللهِ ﷺ «يُخْرِجُ رَأْسَهُ إِلَيَّ مِنَ الْمَسْجِدِ وَهُوَ مُعْتَكِفٌ فَيَأْمُرُنِي فَأَغْسِلُهُ وَأَنَا حَائِضٌ»