Heal someone in a grapple?

[Hosweay]

I apologize if this has already been covered. I was wondering if a PC that was not involved in a grapple could heal a PC who was in a grapple. If they can, would they need to make a melee touch attack, roll for the miss chance, or join the grapple themselves?

 

[Patryn of Elvenshae]

The Cure spells use melee touch attacks.

You can automatically hit a willing ally with your melee touch attacks.

Melee attacks of any sort have no miss chance when targeted at grappling creatures.

Therefore, there's no problem with healing someone who's grappling from outside the grapple.