Yes. One example is incest. Except for Rhode Island and New Jersey, every state in the US criminalizes incest between consenting adults (although how incest is defined, and the penalties imposed, will vary from state to state).
Another example is professional sexual exploitation which involves sexual activity between professionals such as doctors, therapists, psychiatrists, clergy members, and similar professionals who hold a position of trust vis-à-vis their clients, who are likely to be in a vulnerable state mentally or emotionally, and therefore extremely susceptible to being taken advantage of.
Of course, such misconduct will almost certainly result in the suspension of the professional’s license by the relevant licensing authority, in many states, depending on the professional position and nature of the act, such misconduct can also be a crime. For example, under the Colorado Penal Code, the commission of an act involving sexual intrusion or penetration between a psychotherapist and their client is considered aggravated sexual assault; with the code specifically stating that the client’s consent is not a legal defense to the crime.