Well CFNM can be tame like that, or go much further. It all depends on the crowd. And, if as a naked waiter, you have both hands full carrying drinks and food, well… try not to drop anything!
Activities, other than just serving food and drink, could be agreed before hand, and presented as party games where the naked guys are used, and abused, by the party guests. Perhaps as a planned game – draw a card to tell the guest what to do with their guy – or just as a “free for all” to any set limits. Either is good for me…