WordNet sense 1 (not offensive):

uncontroversial

WordNet sense 2 (not injurious to physical or mental health):

harmless

WordNet sense 3 (incapable of offending or attacking):

offenceless

WordNet sense 4 (not causing anger or annoyance):

unoffending

WordNet sense 5 (morally respectable or inoffensive):

savory, savoury

WordNet sense 6 (not causing disapproval):

innocuous, unobjectionable

WordNet sense 7 (of an inoffensive substitute for offensive terminology):

euphemistic