Rick: You sleep facing the same way. Your back is too his chest. His arms are wrapped around your waist. Your hands are on top of his. His face is usually buried in your hair.
Daryl: You have your head on his chest. One arm is a across his torso. His arms are wrapped around your waist protectively.
Carl: You sleep facing each other. His arms are around your head gently and your arms are around him. Your foreheads are touching. You have your head nuzzeled in the crook of his neck and his face is in the crook of your neck.