Uh, so, I think there's a largish chunk of fantasy that wanders into that maybe-it's-erotica territory. A lot of urban-fantasy-with-vampires falls into this, but so do alternate-world series like the Carey books Sunna mentioned.
You could also look at Ellen Kushner's Swordspoint, Kushner & Sherman's The Fall of the Kings,, and Kushner's The Privilege of the Sword (which is YA, at that). ETA: not claiming that Kushner's sex scenes are erotica, though some are romance -- my personal definition there being it's erotica if it's fun, it's romance if it's building up a relationship, and it can be both no matter what the marketing categories say.
Fair warning, I don't actually remember very well how explicitly sex scenes are drawn so long as I get the idea and it doesn't hurt my brain for bad writing. But the following I think have pretty explicit sex in 'em.
Some of Tanith Lee's work.
Entirely not porn (because it's horrible for the protag and for the reader, and can only be borne because it's plot-crucial): early in Jo Walton's The King's Peace. Early enough that I don't think that's a spoiler.
Semi-detailed, though not graphic, sex scenes in some of Tamora Pierce's books, which are YA fantasy.
Sex that certainly stuck in my head: in Ian McDonald's King of Morning, Queen of Day.
Going back to the oldies, Anne McCaffrey and Marion Zimmer Bradley certainly walked the soft-porn line often enough.
And that's my brain giving up on me. Hope that's a fair start.