AllMusic editor Thom Jurek felt that that Body Kiss was "a better Isleys record than listeners had any right to expect and it is a signature collaboration between the band and R. Kelly; given that this is a first outing for the team, one hopes that the creative field that exists between will be further explored.

"[2] Billboard found that "Body Kiss, like 2001's Eternal, is another mature, mood-setting affair that relies heavily both on ballads and Ronald Isley's gangster alter-ego, Mr. Biggs.

"[4] Kelefa Sanneh, writing for The New York Times, felt that Body Kiss served as a sequel to R. Kelly's Chocolate Factory.

"[5] PopMatters editor Mark Anthony Neal felt that though "there are bright moments [...] unfortunately, too much the production and songwriting on Body Kiss is focused on the drama of Mr. Biggs and rightfully so, since it is the only reason why the 60-plus year-old Ronald Isley has any commercial cachet.

"[3] NPR music critic Jim Fusilli noted that "the album is best when it sticks to seduction and works least when it treats women as pampered objects.