If you don't want to go through the trouble of actually modeling your characters, I would recommend either Koikatsu Party or Honey Select 2. Which one you use depends on the style of characters you want to make (anime-like or semi-realistic). I only have experience using Koikatsu Party, but so far I haven't had any problems with making quality models with it. If you don't like the studio scene creater that comes with it, there are mods that can export character models into blender so you can have WAY more control over scene creation (assuming you want to make something like a AVN.)
