The adjective frisky means playful or lively. Your frisky puppy likes to play tug-of-war with your socks, whether they're on or off your feet.
Frisky is from the Middle English word frisk, which in turn was based on the Old French word frisque. In all cases, the words mean lively and merry. The term frisky is sometimes used as a mild euphemism for being playfully affectionate, especially when such playfulness is likely to lead to sexual activity. It's totally awkward when your parents are feeling frisky, and they flirt and kiss in front of you.