Nope. Touching the ball with the TIP of the cue like mr. West did (without really moving it) is a perfectly ok way to take a foul. Intentionally fouling is a big part of 14.1. It's still a foul and loss of one point, or 15+1 if you foul 3 times in a row. After 3 in a row you then also have to rebreak the balls. All such fouls must however be commited by using the cue tip to strike the ball.
Touching the cue ball with anything else, besides the tip, (on purpose) is not ok, and is considered unsportsmanlike. Punishment is usually up to the discretion of the officials. For instance deliberately moving balls with your hands, raking the balls to the rail with the cue etc. may be a loss of game. What Efren got is typical for the type of infraction he commited. Accidentally touching the cue ball with your clothes, hands or part of the cuestick except the tip is just a normal foul, but may result in the lie of the balls being restored to where they were before the foul occured. Efren deliberately tapped the cue ball with his ferrule, thats not ok. Sometimes a cue ball is wedged in an ideal spot and it's hard to touch it with the tip without disturbing the lie of the balls. Keep in mind that even 1mm of movement may either leave a ball on (make it pocketable) or enable a legal safety shot. This rule is there to avoid people creatively avoiding making an actual attempted stroke, to get out of a tough situation. It can sometimes be easier to just graze the ball with your ferrule and avoid movement, rather than elevating the stick over the pack and tapping it with the tip. You lose some control when you have to elevate (for instance) or if there are other factors making the stroke awkward, while just tapping the ball with the ferrule itself doesn't require anything like that.