It's rare to engage such stay-out domestic helper service. If there is, it's super expensive.
Before we decided to hire stay-in maid, we have explored the possibility of hiring a stay-out maid who comes in to cook and housekeep from Mon-Fri when we are at work and children in childcare. Have enquired with an agencies (A-Team and Maranatha) and the rate for such service is min. $1,200 per month. This is excluding their one-off agency fee of few hundreds. In the end, we aborted this option and ended up employing stay-in maid.