You could do this pretty easily on a fresh self created scene by yourself with VamX and or the "Alive" plugin. VamX (has a built in tutorial) basically is a pretty easy to use sandbox with simplyfied custom UI to choose various poses and animations. There is no adjustment needed for the fun scenes. If your VaM installation is bloated, and you do not have a high end rig, I do not reccomend VamX. But if you are giving a fuck on loading times, then you could still give it a shot.
Alive is, well to awaken the character to life. The character acts lifelike and reacts to touches, teases and everything else. Sounds included! Automatically starts to suck on something for example, whatever you put in his/her mouth. You can also enable thrust, ride and other animations in the plugin options. The animations do look really clean. Disable head gaze if you don't want the characters head to spaz out, and if you are using glance or just want clean eye contact, disable eye focus as well. Iam not using the very latest version of the plugin though. You can also adjust the personality. Before I was using Emotion, but this is on a whole other level.