The books were given out to 42 Year 4 children, aged between eight and nine, during a school visit to the supermarket's Haverhill store in Suffolk.
The book, called 'How to Change the World for £5', includes light-hearted illustrations of sexual positions to try in the bath in a section about saving water. Advice underneath included "Save water. Have fun. Just get out before everything becomes wrinkled."
Other suggestions in the book included encouraging readers to shave in intimate places, streaking, talking to strangers and handing out your phone number to five people on the street.
The supermarket's blunder came to light when a father heard his daughter giggling with friends as they flicked through the pages.
The father Andrew Dodd, told the Daily Mail: "I thought it was extremely inappropriate and irresponsible to give it to children. On the 'having fun in the bath' pages there were drawings of about 12 sexual positions.
"But the worst bit was where it encouraged you to go and talk to strangers. It's the opposite message to what you should be giving to kids."
Sainsbury's has apologised for the mistake stating that the book had an environmental theme, which it thought would be an appropriate gift for the children.
However the staff who handed out the books did not realise they were aimed at adults and contained sexual drawings.
'How to Change the World for £5' was created by environmental movement We Are What We Do, which collaborated with Sainsbury's and designer Anya Hindmarsh to produce £5 re-usable shopping bags called Plastic Ain't My Bag.