I am sure that someone occasionally pays for non-sexual companionship. But it is so rare as to be about impossible to find. If you advertise as an "escort" and don't offer sex, you will probably never get any clients. If you do get clients, the odds are high that they'll still think they can expect sex.
There are plenty of things you can do for money that don't involve sex. There are even people who pay for companionship: for example elderly people who would like someone to come over and read the paper to them, help with light housework, and otherwise keep them company. It certainly doesn't pay very well, but that's the way it is.
Do not attempt to be a non-sexual "escort." You'll be wasting your time. Especially do not pay money to register with any agency that claims to do this sort of thing. It will be a scam.