excitablepants said: Ranma is asking a question, "Wanna [verb]?" where [verb] is a compound of two parts. しこる [shikoru] means to stiffen, よる [yoru] I'm not sure about.
"~i yo ru" is one of some Kansai dialects. shiyoru, kiyoru, etc... and shikoru is a slang for "to fap" . if it's translated, it'll be "Are you gonna fap?" or something.