If I read your post correctly, I think you're talking about a program that has a pre-existing
library
of re-sizable furniture that you would drag into a room you've built.
Have you tried the IKEA Home Planner? You can download the planner, and use it's library of IKEA bedroom furniture (the HOME planner means Office and Bedroom furniture as well as Kitchen). It doesn't allow re-sizing of pieces, but you can put in Kitchen or Office pieces if they're more the right size to get an idea of what might work.
There are, yes, consumer packages available.
Punch! software might work for you. There are many options, but there's a $40 low-end version with a basic 3D furniture library. You'll still have to create a basic room by drawing in walls to size, putting in windows, etc.
DreamHouse 3D is one I used -years- ago; it's old and often on sale really really cheap. Provided a pretty good library of basic furniture.
Better Homes & Gardens also has 3D Home Design software.
SketchUp is great, but it's much more a "build-your-own" approach, not a home-design program per-se... but it is free. If you're not 3D program minded, this one might be frustrating.
My suggestion: download the IKEA BEDROOM PLANNER and start there, see if it works well enough for you, and then investigate some of the other options if it does not.
IKEA | Download planner