I realize this may initially come across as juvenile, but hear me out.
Sexual health is very important, and having regular sex may not be achievable, ideal, or safe for everyone. Masturbation is an excellent alternative. The health benefits that come from masturbation are extensive.
For many men and women, dildos greatly help with masturbation. However, they carry an unwarranted negative stigma and are illegal in many parts of the world. These points can severely hinder effective masturbation:
Some counties look the other way when they're labeled as stress-relief tools, but there is still the risk due to many obscenity laws. Far too many ban them outright.
Negative stigma for a range of reasons such as religious intolerance, societal pressure, and lack of education.
Cost may also be a factor. In regions where dildos are accessible, they may not always be cheap.
So, it's common knowledge that household objects are sometimes used to achieve the same goal, however there are also plenty of mishaps that can end either embarrassingly or dangerously. With the stigma, unavailability, cost, and safety in mind:
What would be an ideal, safe, household object that could serve as a replacement for a standard dildo?
The answer should preferably be cleanable and reusable, but this isn't a strict requirement.