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One possibility is that it is a learned behavior that evolved from kiss feeding, the process by which mothers in some cultures feed their babies by passing masticated food from mouth-to-mouth. However, there are some contemporary indigenous cultures which still practice kiss feeding, but not social or erotic kissing.
If you touch your newborn's cheek lightly with your finger or other yielding object, the baby will orient its head toward the touch, open its mouth and attempt to suck. This reflex is also called the 'search reflex.' The baby turns its head in hopes of attaining milk to drink.