There is no episode where Raven and Beast Boy kiss. I would like them to but they didn't. Raven did hug him in the episode "Spellbound" though which I think was one of the sweetest moments between them. They do indeed ciuman in the comics. But in Teen Titans Go! Raven does have a secret crush on Beast Boy and they almost got married in the episode "Matched" which lead them to almost ciuman until Cyborg messed it up!!! Damn him!!!