If you're happy to just use preset animations, the hentai games made by Illusion are a good option if you're interested in anime and anime-esque stuff. They might have improved it since then, though.
Haven't tried it myself, so I can't say for certain, but it looked rather complex last time I saw it in action. It's built for VR, though, so it might be a bit tricky to operate without it. Virt-A-Mate is the closest match that I know of. A few somewhat similar titles out there, some of them quite old, but I don't think any are quite the same in terms of customizing the animations they tend to have a ready-made library of them right out of the box, but authoring new ones is far from intuitive, often needing you to mod the game to even be able to do it.
