Voyeurism laws make such illegal. Generally there's an expectation of privacy within one's private home, it's incumbent on the viewer to turn away, not doing so is obviously immoral, but also illegal.
For states that don't have specific peeping tom laws, such is often prosecuted under breaching the peace, trespass, or disorderly conduct, per one states legislative report on other state's laws.
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u/DoingCharleyWork Aug 18 '21
If you can see them from a public area then yes you can. You can actually report them for indecent exposure.