The short answer is YES.
The long answer is, well .. for robots and non-living stuff, i think a sex-bot is my pick, she has to have some AI that reacts to my actions/voice in some way, sleeping or fucking a silent plastic doll resembling a human is too awkward for me, a flesh-light is fine since it's a tool for masturbation but dolls without an AI take it a bit too far for me.
As for sentient creatures, hmmm .. usually we have two distinctions, mythological/magical creatures and aliens .. i have no problem sleeping with either of them if:-
1-The have to be fully sentient and there is a way for us to communicate (telepathy, translator device, ..etc etc), magical creatures seem to always know our language somehow so it won't be a problem with say a Nymph or a female Centaur.
2-Our biology has to be compatible, as in sleeping with them wouldn't physically hurt me or hurt them (biology is probably a problem with aliens only, for magical creatures sex related magic curses can be a problem too i think, for example .. sleeping with a female undead, demon or succubus is generally a very bad idea).
3-They have to be at least 50% human, so any hybrid magical creature or humanoid alien are both fine (pretty much all the aliens in Mass Effect except the Hanar and Elcor), most fantasy creatures are fine too.
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So yeah, for Sci-Fi I'll use Mass Effect since it has plenty of compatible examples, female Asari, Turian, Quarian, Drell, Volus, Salarian are all fine as sleeping partners (female Krogans, Batarians and Vorcha don't exactly attract me much), as for fantasy .. female non-aggressive Elves, Dwarves (and all WoW playable races except Undead), Centaurs, Fauns, Mermaids, Cecaelias (Half woman half Octopus), Nagas, Fairies, Were-cats (or cat girls if you wish to call them that) are all good sleeping mates in my book.
The big NOs are sentient 100% animal bodies creatures (like an intelligent talking female bear or horse), Demons, Succubi and Undead.