You mean a sex surrogate?
EDIT: I can’t seem to find it. I learned about sex surrogacy from an episode of Love and Radio (I can’t remember if it is stylized). The whole episode was an interview with a woman who worked professionally as a surrogate. They dealt with sex therapy as well as helping persons who might have physical disabilities that prevented them from experiencing sex.
It is. https://en.wikipedia.org/wiki/Surrogate_partner