I have not contacted or used either of these 2 above shops so I am not sure if they even accept foreigners never mind those with limited Japanese.
However... Pikkurus based out of Akihabara/Ueno area do service foreigners, and some of the women there do AF, check their profiles it will say if foreigners that speak only english are OK, and if they do AF. They are strictly delivery so you'll have to reserve via web form a few days in advance, or call them day of.