Short of finding a sex related lexicon which would also showcase usage1, I suggest research. From the entries in the Trésor, Littré and Grand Larousse we don't find what you're looking for, but some figurative meanings are insightful, in particular the idea of aboutissement (the "coming to the end/tip" i.e. to the conclusion). In the Dictionnaire historique de la langue française (Rey, Tomi, Hordé, Tanet, Ed. Le Robert.), venir, as in to have an orgasm, is identified as a calque (a mere copy) from a usual meaning of the verb to come in English; and this was introduced in French by G. Apollinaire (some of his work here) quite recently, in 1906. For instance, in Les exploits d'un jeune Don Juan (1911), venir is used accordingly. Furthermore, spending some time reading the author's work should provide lexicon aplenty!
1. It strikes me that many verbs could describe or be associated with having an orgasm depending on context, such as arriver, aboutir, exploser, finir etc. but you won't necessarily find a reference for all that. In English, to come (off) as having an orgasm may date back (see maybe also NED) to the 17th, yet it is still considered informal in AmE and slang in BrE; pornography originating cum is listed as slang/vulgar in AmE and literally as taboo(!) and slang in the UK. Informal, slang, vulgar and taboo don't mean the same thing; vulgar/non vulgar doesn't capture the scope nor the subtlety of the language and its usage imho.