I believe modeling agencies, as opposed to 'escort agencies' do this. You have to be quite a looker to get someone to pay you a decent fee to just be on their arm for the evening. I'm sure there are probably lots of strip club ladies who get paid to do this as well, if they have the looks. Of course this is very hit and miss as for all of these businesses, accompanying people to parties and such is likely only a sideline and minor component. If you want to keep your clothes on, a modelling agency might be your best bet, even though most models don't. Of course, in the states topless clubs are suprisingly popular where you don't have to get completely nekkid, just the top.You might ask the owner or manager or the club or agency to put you down if someone calls for a party or function date.
BTW, even in the states 'escorts' are still expected to strip and put on nude shows for clients, but many do not offer sexual contact.