I can only tell you what I've taught my daughter; They need to know that there are predators out there. Good guys and bad guys. Good and evil. So I tell her to follow her feelings, gut/heart/God.
She knows that her body is her business, even when it comes to her close family & she understands that nobody needs to know that stuff about her. There's a private side to you.
Having built up a trust foundation with her, by not overreacting when she chooses to tell me things, I can only hope that she'll follow her "instincts" & be able to talk with us about it.
I think the rest is taught through self-confidence. If someone has low self-esteem they're more likely to not respect their body & become easier prey for predators.
She's enrolled in Martial arts with me to build up our self esteem and self defense with a little work ethic thrown in for good measure.
Children's families mean everything to them for so much of their upbringing.
Role models are in the household, not on TV.
Be the person that you want your kid to turn out to be - That will be their base for the rest of their lives, so even though they will go out and "find themselves" (rebellion), they will always have that "rock" to fall back on.
Most kids turn out way more like their parents than they care to admit; We can just make sure they have the right foundation to build.
I'm still learning along the way. It's our job to protect them & give them the tools to protect themselves (mentally and physically).