It has been narrated on the authority of 'Urwa that 'A'isha described to him the way the Prophet (ﷺ) took the oath of fealty from women. She said
The Messenger of Allah (ﷺ) never touched a woman with his hand. He would only take a vow from her and when he had taken the (verbal) vow, he would say: You may go. I have accepted your fealty.