With Custom NPC you can do that NPCs builds something, but you need to be on creative mode to tell them what to do.
Sadly that's the most similar mod feature I know.
Villages are procedural generated so it can be possible to start a village from nothing and let villagers build it, but I din't know any mod that adds this feature right now.
There's also MineColonies, and this one works on survival and its really cool, but its not exacly villagers building its own houses.
You're a mayor of a town and you order to the citicens to make actions, like building the diferent buildings of the town.
They're not going to trade you stuff like villagers, the citizens of this mod are a separated mob that doesn't override the default villager and they're dependant to the player, but its the most similar mod I found.