No, sucking or kissing a woman's nipple does not transmit
HIV or most sexually transmitted infections (STIs), provided the skin is intact and there are no sores, bleeding or open wounds on either person's mouth or on the nipple.
HIV is transmitted through specific body fluids blood, semen, vaginal fluids, rectal fluids and breast milk (primarily from mother to infant). It is not transmitted through saliva and simply sucking a nipple does not pose an HIV risk.
The risk may only arise in uncommon situations where there is active bleeding, open ulcers, or broken skin on the nipple or inside the mouth, allowing blood-to-blood contact. Some infections like herpes or syphilis can spread through direct contact with active sores if they are present.
If there was no bleeding, no sores and no other sexual exposure, there is no need to worry about HIV transmission from nipple sucking alone.