Any platform able to perform as USB device?

Hello embedded superusers,
I'd like to see a supported ARM development board with USB OTG not in host mode, that can be seen by other hosts (running any OS with full USB support) as HID or audio I/O (PCM or MIDI) or Media Transfer Protocol device. Does it exist? Can FreeBSD USB stack be modified to run the endpoints side, and is there other source code needed?
 
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