This forum isn't for advertising our work, so rather than give a link to the ones I made, I'll tell everyone how to make their own:
You'll need either TSR's Workshop, or s3pe and s3oc from Peter Jones.
Simply clone the bed of your choice, and edit the OBJD to change the WallPlacementFlags "OnWall" to True and "CanBeMovedUpDownOnWall" to True. All other WallPlacementFlags to False. Then change ObjectType flag "AllowWallObjectOnGround" to True. That means you don't have to have the bed against the wall.
Then mesh and texture the usual way - remembering to make longer posts/legs to make the beds join together. You'll probably want to make the bottom and top bunk different to each other.
When placing, you use the normal Wall Deco method to raise the top bunk to the required height. Sims won't get on the top bunk if it is too close to the ceiling, nor the lower bunk if the top bunk is too low. You may need moveobjects to place one under the other, if their original bounding box was too large to fit in two in the height of a room.
Sims first climb to appropriate height, even using little walking movement (so you could make a little ladder for them) and then animate to the bed as usual.