Are there any class B's that do not look like RVs?

Yes. You can sleep with the top down as long as you don't mind crouching down to move within the van like say using the potti in the middle of the night. There are of course many more examples of Sportsmobiles that don't have poptops. Sportsmobile was the first U.S.manufacturer to use compressor fridges and espar heating systems thereby eliminating the outside vents. Sportsmobile can build really stealthy vans.