When I went to Sea World in San Diego, they ahd the dolphin tank where you could feed them (buy frozen fish to give them). I was able to touch them. I thought they felt like wet rubber tires!
We swam with the dolphins in Key Largo last year at a place called Dolphins Plus. It was wonderful! There is nothing really in the Orlando area. However, Key Largo is quite a drive from Orlando, but we did half Disney and half southern Fla.
I believe they have a "behind the scenes" encounter that takes you around the entire park-the penguins, the dolphins, the killer whales and the arctic experience I believe are all included.