Google Pixel: every model from the Pixel 4 on. The Pixel 3a has eSIM except when bought in Japan or with Verizon service; the Pixel 3 only when bought outside Australia, Japan and Taiwan and not locked to a US or Canadian operator.
Samsung Galaxy: the S series from the S20, the Note 20, every Z Fold and Z Flip, and some A-series models such as the A54. Not every country's version has it: Galaxy phones from mainland China, Hong Kong and Taiwan have no eSIM, the US versions of the S20, S21 and Note 20 Ultra have none, and most models sold in South Korea have none before the S23.
Other makers — Motorola, OnePlus, Oppo, Xiaomi, Sony and more — have eSIM on many recent flagships and on few budget models. There is no single list, because it varies by model and by the country the phone was sold in.
So check the phone rather than the model name. Dial *#06#: if an EID number appears, the phone has eSIM. Or look in the settings — Settings → Network & internet → SIMs on most phones, Settings → Connections → SIM manager on a Samsung — for Add eSIM.