Praise be to Allah, and peace and blessings be upon our Master, the Messenger of Allah.
It is permissible to seek blessings from the relics of the Prophet Muhammad (peace be upon him) during his lifetime and after his death, whether through kissing, touching, or rubbing them, including anything that has separated from his noble body, as well as items he used, such as vessels, clothing, or other tools.
It has been established from the noble companions that they would do this in the presence of the Prophet Muhammad (peace be upon him) without him objecting to it. His blessed body is full of blessings and goodness. We have not found any disagreement among scholars on this ruling due to the numerous religious evidence supporting it. Among these evidences are:
First: The hadith of Umm 'Atiyyah (may Allah be pleased with her) where the Prophet (peace be upon him) gave his garment to the women who were washing his daughter and said to them: "Shroud her in it." This hadith is agreed upon. Imam Al-Nawawi commented: "The wisdom behind shrouding her in it was to bless her with it."
Second: In the hadith of Abu Ayyub Al-Ansari (may Allah be pleased with him), when the Prophet (peace be upon him) stayed at his house during the Hijrah, he said: "He used to prepare food for the Prophet (peace be upon him), and when it was brought to him, he would ask where the Prophet’s fingers had touched, and he would follow that spot and eat from it." (Narrated by Muslim).
Third: From Asma bint Abi Bakr (may Allah be pleased with her), she said: "This is the cloak of the Messenger of Allah (peace be upon him), which was with Aisha until she passed away. When she passed away, I took it. The Prophet (peace be upon him) used to wear it, and we wash it for the sick so that they may seek healing through it." (Narrated by Muslim).
Fourth: Imam al-Bukhari in his "Sahih" (Authentic Collection) has a chapter titled: "Chapter on what has been mentioned regarding the Prophet's armor, staff, sword, cup, ring, and what the caliphs used from these after him, and regarding his hair, sandals, and vessels, which the companions and others sought blessings from after his death." In this chapter, he narrates from ‘Isa ibn Tahman, who said: "Anas brought out two worn-out sandals with two straps. Later, Thabit al-Bunani narrated to me from Anas that they were the sandals of the Prophet." And from Abu Burdah, he said: "Aisha (may Allah be pleased with her) brought out a thick, quilted cloak and said: 'In this, the soul of the Prophet was taken.'" And from ‘Asim, from Ibn Sirin, from Anas ibn Malik (may Allah be pleased with him): "The Prophet’s cup was broken, so a silver chain was placed in its cracked part. ‘Asim said: 'I saw the cup and drank from it.'"
Fifth: Al-Bukhari also included a chapter in his "Sahih" titled: "Chapter on Drinking from the Prophet's Cup and His Vessels," in which he narrated the statement of Abu Burdah, who said: ‘Abdullah ibn Salam said to me: "Shall I not offer you a drink from a cup in which the Prophet drank?"
The hadith about the cup of Sahl ibn Sa’d, from which the Prophet drank, states: "Then, ‘Umar ibn ‘Abd al-‘Aziz requested it as a gift afterward, and Sahl gifted it to him." And Allah The Almighty knows best.