There are indeed. Fanfiction writers often explore different aspects of their relationship. It could be about their sisterly love, how they remember their family before the apocalypse, or their dreams for the future in that harsh world. By looking for fanfictions that are tagged with positive themes like 'sisterhood' or 'survival', you can avoid the inappropriate ones and find great stories about Beth and Maggie.
A great storyline could be that Beth and Maggie find a group of children in the apocalypse. They then take on the role of protectors and mentors, teaching the kids how to survive. This would show their nurturing sides and how strong their relationship is. Also, a story where they discover a hidden library or a place full of knowledge and they try to preserve it for the future is also a very interesting non - sexual fanfiction idea.
Yes, there are likely many 'The Walking Dead' fanfictions out there where Daryl and Beth kiss. Fanfiction writers often explore different relationships and scenarios that may not have occurred in the original show. You can find such fanfictions on various fanfiction websites by simply searching for 'The Walking Dead Daryl and Beth kiss' in their search bars.