Actually yes. Think of them as a cross of anime and choose your own adventure novel (in reality a large fraction of animes were adapted from VNs). One example would be Fate/Stay Night. The original anime and the newer Unlimited Blade Works are actually two different routes of the VN Fate/Stay Night.
As fun as reading a novel only with +bgm +voice +illustration/cg +more endings( choose your heroine) and of course, more visuals for H
Try Rewrite, it's awesome. Sorry for not being able to recommend something shorter, I just played the long ones...
https://vndb.org/v1474/ -> Hoshizora no Memoria. Great graphics, decent story. Nice introduction to the genre. LOT's of routes, including a hidden one. Nekopara (obviously) gotta get some catgirls. https://vndb.org/v945 -> Katawa Shoujo. Decent story, more importantly it's free https://vndb.org/v44 -> Yume Miru Kusuri. Good story, not for the faint hearted. https://vndb.org/v5652 -> Alchemy Meister. I got seriously addicted to this game at one point. It's so much fun. It's a mix between an RPG/Dungeon Crawler and VN.
Steam has a good collection of VN on there that are typically shorter (5-20 hours) than typical VNs (20-40 hours with some getting to 100 hours like Fate/Stay Night). Also, Steam removes or censors the Nudity so you don't have to worry about that (most have patches to add it back in if desired) If want uncensored VNs, you need to look at MangaGamer, Jast USA, or Denpasoft. I have been personally liking works from A.J. Tilley (now Dharker Studio), which have good stories and are shorter (5-10 hours). You can look at their website or on Steam (newest is Club Life and is about drama in after school clubs). There is also Katawa Shoujo which is a free download and is a decent drama/ romance dating sim. There is an option to turn off all sex scenes (which are not that many to begin with) if you want to avoid them.