Are there any droids that heal

No, currently there is not. However, there is a healer with droid synergies — Jawa Engineer. He can be farmed from the Guild Shop and I've also seen him in the Shard Shop occasionally.

Edit: See the other answer for details on BB-8! He is best used with Resistance teams, but can certainly be used with other Droids.

BB-8 has two abilities that heal Droids

• Illuminated Destiny: Dispel all debuffs on all allies and Expose all enemies for 2 turns. All allies gain 80% Turn Meter and gain Advantage, Critical Chance Up, Critical Damage Up, Offense Up, and Speed Up for 4 turns. Droid and Resistance allies recover 20% Protection. This ability starts on cooldown and can't be Evaded. Whenever a Droid ally scores a Critical Hit, reduce the cooldown of this ability by 1

• Self-Preservation Protocols: When BB-8 takes damage he has a 50% chance to gain Foresight for 2 turns. At the start of each encounter, if BB-8 is active, Droid allies gain 8% Turn Meter for each active Droid ally. When BB-8 Evades, Droid allies recover 8% Health and 8% Protection.