The only way I think that is possible is if you can find someone to clean who lives in your neighborhood, who is available to clean on a flexible schedule- a retired neighbor, friend or family member, student, stay at home mom, or someone who works online from home, who just wants to be able to earn some side income rather than a dependable salary.
Or if you’re a host with multiple properties in the same area, so there is always at least one place that needs cleaning.
Unless they have a reputation for really high quality work, a cleaning agency that sends out different people each time isn’t going to produce as good results as the same person cleaning all the time, who gets to know the place and develop an efficient cleaning routine, like hosts who clean their own places do.