I used one of Yuzool’s old ones: http://demo.yuzoolthemes.com/stripe/ but it is only available as part of his Oak Bundle, not individual. On a previous iteration of my site, I think that was the one I used to take invoice payments (I don’t have it on there anymore). I don’t know the extent of what personal info it takes though.
It seemed that Checkout 2 was supposed to introduce it (based on this thread: Stripe SCA update required with Checkout stack and RapidCart Pro) but I don’t know the status and Yuzool hasn’t been around much lately.
If you have the original Checkout, you could take a look at that as well.