I thought the objective of truth or dare was to do the truth unless you are too embarrassed, in which case you had to go through with the dare as punishment.
I always thought it was played at parties, meant to get shy people laid.
bunch of girls & guys sit around, truth or dare comes up, you say truth, they say "you must confess your love to your secret crush" or dare comes up "you must pash the first girl on your left".