As in, an expectation-free hug with your partner. Doing something without expecting anything in return, but not necessarily selfless. I hoped "nonexpecting" was a word, but it seems reserved for pregnancy 🙂
EDIT: Thanks for the suggestions! My example may not have been the best. I don't mean necessarily platonic or friendly, because the attitude can apply to anything. I've heard the words "wishless" and "hopeless" in some Buddhist contexts, interestingly, but those seem wonky as well.
Best Answer
insouciant TFD
Marked by blithe unconcern; nonchalant.