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The Hot Coffee sex minigame was created by Rockstar for use in GTA San Andreas, but removed before the game was released.

They did not intend for it to be available/playable in the game. The problem was that they disabled it rather than completely removed all its code, and a modder managed to hack the game to enable Hot Coffee again.

It is impossible to access the Hot Coffee minigame without deliberately modifying the game to access it.

The new M version of the game has the codes completely removed, this new M version came in the GTA Trilogy Pack which was for the Xbox and Ps2 consoles.