what do you mean is it okay? like okay as in with god or okay with your parents? because those are the only okay i can think of. otherwise go for it!! cuddle while half naked or even naked is awesome either way. but be warned if your a virgin or close to it then cuddling wile half naked will, and i mean WILL within 5 to a couple hours lead to lots of kissing, touching and more things if you get where im going with this.
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It ultimately depends on the comfort level of both individuals. As long as both parties are consenting and comfortable with the situation, there is nothing inherently wrong with cuddling while half naked. It's important to communicate and establish boundaries to ensure a positive experience for everyone involved.