How to check if a gameobject is touching another gameobject?

Hi!
Is there a function similar to OnCollisionEnter that is called when a gameobject is touching another gamobject?

 

OnCollisionStay is called for every frame in which two GameObjects are touching, assuming they have the appropriate components and settings to register collisions.

https://docs.unity3d.com/ScriptReference/MonoBehaviour.OnCollisionStay.html

 

Thanks