Selling sex is legal and no other activities criminalised.
Yes, brothel-keeping and "pimping" are criminalised under penal code. Inducing, promoting or facilitating sex work also criminalised.
Not prescribed in law but sex workers are required to carry a 'pink card' after receiving medical check
Sexual Rights Initiative Database, available at https://sexualrightsdatabase.org/page/welcome Venezuela Penal Code - http://www.ministeriopublico.gob.ve/web/guest/codigo-penal