Haptics, the science and technology of programmable touch experiences, is increasingly used to improve functionality in virtual reality, robotics, and wearable applications. Investments by large companies such as Meta, Apple, and Google are helping to drive growth in the field. Yet, haptic technology is complex and specialized. Thus, current progress is limited to achievements by a small group of experts and lab-based studies that do not scale to the diverse needs and preferences of users. My goal is to create a future where everyone can understand, access, and adapt touch technology for their needs. In this talk, I present my research toward this goal in the areas of haptic personalization, multisensory design, haptic technology collections, and social physical interactions with robots. Finally, I discuss the remaining steps toward a future where effective and fun virtual touch experiences are designed, tailored, and embraced by all.