How to Talk About Masturbation With Your Kids

Some religions posit that masturbation is simply wrong, so that body exploration and masturbation should make somebody feel guilty or shameful. How do we talk about that with our kids? I don't know if we can answer that as a fact or fiction because there are lots of religious, spiritual, cultural values around masturbation. We might not feel the same thing about certain behaviors or experiences, but we never want the young people in our life to think that we have deliberately set them up for failure in some way.