First, all of the apps offer something along the lines of "Networking" or "Friends" as options for designating what you're looking for. While many of them are indeed for people looking only for sex, or mainly for sex, there are plenty of people looking to make friends. Maybe less on Grindr, but certainly apps like Scruff have a wider array of options.
The key is: BE CLEAR IN YOUR COMMUNICATION!
Want to meet somebody for a no-sex dinner date? How about a profile headline that says: "Dinner first?" Then explain in the body of the profile exactly what you're looking for. Don't give mixed signals by giving your cock size, or using a shirtless photo. And when you message someone, don't say "Hey sexy!" And when you're chatting, don't get to flirtatious if that's not where you're going, because... again... mixed signals!
That said, there are apps that are less "thirst driven," ones like OK Cupid, Tinder, etc.
Finally, although it's not an app, you could look for activities in your area on meetup.com. Depending on where you are, there may be a number of gay events that are decidedly non-sexual in nature.
Personally, I have made some excellent friends via all the apps without ever having the question of sex come up... and it was always because I was clear about what I was looking for, what I was NOT looking for, and I never confused folks or muddied the waters.