"don't touch" the fire because it burns = "no toques "el fuego porque te quema don't touch = no tocar, or nó toques

don't touch no tocar -> when your in a museum it says "no tocar" / don't touch no toques -> when the dish is hot you say "no toques" / don't touch

sort of depends what you don't want the person to touch. :) if it's you- "¡no me toques! (or substitute pronouns "le, lo, la.." as appropriate!)