No outside service is going to be granted access to your villa. The closest option would be to order groceries to be delivered to your resort and have bell services bring them to your villa. You would still need to unpack your groceries and fill the fridge yourself.
If I remember correctly, the last time I preordered, the groceries were delivered before I arrived. I can’t remember if I included perishables or not but if I did they must have been in the fridge.
Until you check into your villa, the villa number can change. So they would be able to deliver to Bell Services and you could pick up your supplies there. I know DVC members do have an order form on the member website to order groceries for their villas.