Nintendo does not allow it. Actually, I think there are no H-games for any videogame console. The closer we get on DS are the girl touching DokiDoki Majo Shipan series and that other "Devil girl-spanking" game whose title I forgot.
There are dating sims for console games which were H-games on the PC. When they make the jump from PC to Console, they just get the Ero scenes taken out. I have a few Dating sims on PC and the same PS2 counterpart as well as PSP, and its the same, just without ero scenes. They usually make up for it by adding in a new character.
