There is a cool gesture on the Galaxy S6 which lets you turn the screen on and view notifications without touching the screen and by just moving your hand above the sensor next to the speaker and Samsung logo.
To view notification on Galaxy S6 without touching the screen, do as follows:
1. Open the Settings and go the Accessibility menu
2. Tap the Dexterity and interaction option, followed by the Gesture wake up option
3. And make sure the gesture is enabled
4. Now, you just need to move your hand above the sensor to turn the screen on and view notifications, while keeping your Galaxy S6 on a stable surface