A few years ago, Friskies did a comedercial (it's a word I just made up) series narrated by Zefrank of "True Facts" and the "Sad Dog Diary" fame called "Dear Kitten". They are quite amusing... at least I find them amusing.
The relevant one is Dear Kitten: The Art Of Massage - https://youtu.be/ksZ5SyyfHJ0
> Dear kitten I need to give you a little history lesson. Hundreds of thousands of years ago we cats were given a choice. Either we could learn the art of swimming and become a seafaring creature or we could choose the gift of the art of massage. I think it's obvious which one we chose. Massage. To this day we must exercise our duty to massage everything. We alone can exercise this alternating gentle touch with a little aftertaste of claws digging in the flesh.
Also common to say they're "making biscuits".
When our cat comes to sleep w/ us we ask him to make some biscuits, he usually does.
If you're lucky and the biscuits line up he'll give you a nice massage.