Sadly, if you are asking about an escort service strictly, no. There are otherwise delivery health agencies that take foreigners with little to no Japanese ability.
(if you are looking for FS like AM, that can only be found either at AM or a Soapland - you might get FS from a delivery health shop, but that’s not what’s for sale...)
If you actually live here, it would be greatly beneficial to learn some basic Japanese to make a simple booking.
An actual escort agency is unlike a delivery health shop, which is is a large majority of the service in Japan next Soaplands.