In all these years there has only been one Jessica Rabbit plush doll made. The Jessica Rabbit Beanie doll came out in 1999 and sold as a set with Baby Herman. Roger and Benny the Cab were also released. Take a look at this awesome, and so far only, plush doll of Jessica.
ImNotBad.com - A Jessica Rabbit Site: Jessica Rabbit Merchandise Review #2 - Disney Beanie