What is the best technology to 3D print sextoys?
I work for a company that doesn't make sex toys, but we do make silicone products with electronics inside, so I've seen lots of the same issues you're facing here.

The way we do it is to 3D print a mould for the object using an SLA printer (in our case a Form 2) - as you note, this material is rather brittle so doesn't work as the internal structure, but it's OK for a mould as it can be made as thick as required for strength.

We then 3D print the internals using an FDM printer in PLA or ABS (we use an Atom 2) and then cast the silicone around this using the SLA-printed mould. This is much stronger and you really have to work to destroy even the fairly delicate electronics once they're encased in silicone. As for contact with the skin, I've not checked the properties of any of these materials for safety in the body, but I would suggest that there's a reason people make sex toys in silicone.

To address your concerns about time, yes this is time consuming for the first one you make, but if you're making more than a couple the time saved by not having to print the entire object each time will more than outweigh the time spend moulding.