No it does not. =] At least, not if you wait for it to dry properly.
answered 2 months ago
(Kuala Lumpur, Malaysia)
I apply the lotion after I get out of the shower and I always TRY to let it dry before putting on my clothes. That being said, there's always the chance that the lotion hasn't completely dried when I put on my clothes and so far, I haven't noticed any stains on my clothing. (I also don't slather myself in this stuff...I think that you increase your chance of staining clothes with the more of the lotion that you apply.)
It did not rub off on my sheets or clothe but I wore shorts and went out to dinner and i have a tendency of placing my phone on my lap so it rubbed off on my white phone case.
I have not had this come off on clothes or sheets. Always let it dry for thirty minutes, or so depending on climate, and test skin first. If skin feels gummy then give it another ten minutes. I mix all my self tanners half moisturizer and half tanner. Minimizes the possible staining and maximizes dry time. If you want a deep tan fast then apply in am and pm. Next day should be golden :-)