Is there any module that controls power supply with variable voltage by PWM input?
You can use any regulator available in the market with external feedback divider for that. You can manipulate the resistor divider to change the output voltage of the regulator. I see two options:


You can switch in/out series resistors configured with powers of 2 sizes. This way you can achieve 2^N different output voltages just by switching in/out resistors in the feedback divider. You can use general purpose MOSFETs to switch the resistors in/out. You will need N digital outputs from your microcontroller for that, so it is not exactly what you are asking.
You can average the PWM signal by using an RC first order low pass filter. Then, you can create a voltage controlled current source. The accuracy you are looking for determines what topology to use for this current source. If you need accuracy, then you will need an op amp circuit. If accuracy is not critical, then you can get away probably with a simple emitter follower. Then you sink this current from the feedback node of the resistor divider. The more current you sink, the higher will be the output voltage.