There are a few keyboard-ish instruments that allow this, and they're super fun and expressive:
- Roli Seaboard (https://roli.com/products/seaboard/)
- Haken Continuum (https://www.hakenaudio.com/continuum-fingerboard)
- Linnstrument (http://www.rogerlinndesign.com/linnstrument.html, more like a guitar layout than a keyboard)