We have had towel animals made for us on a few occasions. Our housekeeper would make them when she made up our room. Sadly our housekeeper was switched three days after our arrival, and the new woman was not very pleasant (we came in contact with her a few times). Needless to say, we were never given any more towel animals; and the ones that we had saved to sit on the TV hutch were taken away!
My best piece of advice on getting towel animals is to write the housekeeper a note and place it with the tip (providing you choose to tip), requesting towel animals to be made for your room. But keep in mind not every CM may know how to make them.