Carly and the Reaperman could possibly be this type of co-op, though the two players are totally different and you can't complete the game with only one player. So it's probably not what you're wanting.

Carly is controlled with the keyboard in an over the shoulder style platform puzzle game, while the Reaperman is controlled by a player in VR and they manipulate the world to help Carly get to places ans solve the puzzles.

Maybe Salt & Sanctuary? You can invite a second player into your game by placing a specific guide in a sanctuary. I'm not sure how much they can do compared to the main player though.