Penis, testicles, vaginas and vulvas in this house. Collectively they are known as private parts or if I'm reminding him to wash himself I say something like "wash your bits".
Undies too - both for DD and DS.
We use proper names. The other day we were at the shops and ds was looking at hair clips. Dd then said "you are not a girl you don't have a vagina"!
We use the correct terms also - I don't want my kids to grow up being embarrassed to use the correct names if that makes sense. My almost 3 yr old DS laughed his head off in the shower recently, saying "Mummy has a hairy penis" lol. So he now knows that girls have vaginas.
For some unknown reason we just call front and back a "bottom" at this point. DD is 3 so should probably learn about the various genitals but its just never come up in conversation. She hasn't shown interest in anyone's bits yet (doesn't ask questions if she she's us nude etc). Hasn't noticed a difference between males and females (or if she has she's never mentioned it or asked).
Now you've got me thinking whether to bring it up or wait til she asks questions.
Mooey for girls bits. I don't have kids yet, but this is what we used at home when I was young & it's stuck
Penis and doodle.
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