The idea behind binaural recording is to recreate the human listening experience as closely as possible in an audio recording. And yes, this means molded ears and ear canals on binaural microphones and often adding mass between the microphones to mimic the human head.  Binaural recording is used to great effect not only in ASMR videos but also in field recordings, film, and the music studio. That said, it shouldn't be seen as the only way or even the best way to achieve a stereo image. X/Y microphones and stereo patterns on large diaphragm mics are also excellent ways to achieve powerful stereo effects.