Well, I don’t think it was ever a really major focus of a story, but on Babylon 5, G’kar was seen to have had a “thing” for alien/human women. I seem to recall one episode where someone was searching his quarters, and found a very un-Narnish frilly pair of panties jammed between some cushions.
Because he’s looking for consensual sex, which excludes tentacle or any other kind or rape.
As far as what the OP actually wants, I’m drawing a blank. When I run over the stuff I know of, either it’s not porn, not disapproved of by the nonhuman side, or rape on one side or another.