Ex-Miss Venezuela Aida Yespica -- The Hottest Game of Grab Ass ... EVER

A thonged out Miss Venezuela 2002 Aida Yespica gave away a free handful of booty on the beach in Miami yesterday ... in front of her kid ... during Day 2 of her amazing butt floss bikini vacation.

As for Aida's cheeky friend ... she's a model from Paraguay named Claudia Galanti.

These chicks really know how to give each other a helping hand.