I've collected a handful of novels over the years that treat dominance and power play as negotiated, erotic elements rather than outright coercion, and I like to point readers to a mix of classics and contemporary takes. For a literary origin point, there's 'Venus in Furs' — it's the 19th-century text that actually coined the language around these dynamics and, while stylized and old-fashioned, it explores consensual role exchange and the psychology of desire in a way that still sparks discussion.
On the modern side, 'The Siren' (the start of Tiffany Reisz's 'The Original Sinners' series) handles dominant/submissive relationships with a lot of emotional nuance and explicit consent; it's messy in a good way and digs into contracts, negotiation, and power with characters who know the rules and choose them. Laura Antoniou's 'The Marketplace' novels are another strong pick: they portray a consensual, organized world of master/slave relationships and are often recommended for readers who want BDSM portrayed as a social system with consent and protocols. For readers who like erotic retellings, the 'Sleeping Beauty' books by A. N. Roquelaure are explicit fairy-tale fantasies steeped in consensual erotic submission — controversial, but consensual within their framing. My take is to read with an eye for negotiated boundaries and consent language; that makes the scenes feel ethically held and emotionally interesting. Personally, I keep coming back to titles that respect negotiation because they make the dynamics feel honest and slower-burning.