You're having a pipe dream. And I think this should be in the beauty/health section.
You're asking for something to burn off hair, without the possibility of it being painful and w/o irritating your skin? >_> Everyone's skin is different and asking for such a thing is impossible.
If you find those pad things, most don't work, or irritate you or leave that sandpaper feel >_>
You are better off just waxing or using a razor....