I want to touch my family members in their sleep
Do they know that you want to touch them in their sleep?
I did ask them, I told them about a dream I had about them
You shouldn't touch others especially family members. They may be too afraid to tell you no if they know about this.
They know I like their touch and it's not a big deal to them.
Touching your family members without their consent as they sleep is wrong. You should not be engaging in any sort of sexual contact with any of your family members really. Hopefully they do not view you in any other way after they find out about this from you.