First of all, disregarding sexual preference and for that end use, there is absolutely no reason to build an android gender specific, none. It really befuddles me why androids are always shown as male of female instead of androgynous.
The excuse of android over robot to make people feel more comfortable around them only goes so far. I believe most humans would prefer (again disregarding sex) an ambiguous android gender-wise in that it defines an android as exactly that. Furthermore, it caters to the human need to feel superior, special and able to be or do something that others cannot.
By giving an android a gender, be it through form, voice, mannerisms or whatever... it instantly smacks of 'replacing a human.' That is the idea which most people cannot tolerate. The android/robot in "I-Robot" in my opinion meets with what I feel most folks would actually find ideal.
Finally, as to a human formed robot, contrary to what many have suggested I believe the opposite. It is ideal for operating in a human world with all of the variables that it would be expected to encounter and cope with. Robots such as AMEE from Red Planet, though vastly more capable in many regards, would also be severely lacking if say it had to perform some simple task like darning socks, emptying a dishwasher and so on.
We have built our world to suit us and our physical form. Past that, the human body, it's movements, coordination, dexterity and so on are incredibly complex (why it is so difficult to reproduce). The big limitation being, that humans are grown out of flesh and blood. Remove that limitation of being grown, and suddenly they could leap 50', lift a car, or remain perfectly still for days on end.
The human form is truly the culmination of millennium of evolution to bring it to the point it is at. More so, with the input and feedback of billions of previous models. Spend that much time trying to improve on it, and you just might have something. Otherwise, as to being a jack-of-all-trades, it's as good as we got.
K2
EDIT: Oh, P.S.: Be sure there is one thing that most stories get right. That is the fact that machines, robots and androids ARE slaves. They are slaves in the purest sense of the term. However, we can get past that term and past the idea of slavery in that they are not a sentient being in an emotional sense.
In the latest Blade Runner - 2049, when K is walking back into the police station we see a human officer feint at him and blurts out "**** *** skin-job!" We see K cringe yet move on, clearly averting his eyes and cowering to all other officers. That's when the programming has crossed the line. To show him totally disregarding the slur and having no need to cower, that then makes them 'in our minds' less than human, disposable, and frees humans up from the guilt of forced servitude without having to be a sociopath to do so.
Be sure, humans being made to feel free from their own guilt will be a critical aspect of such a machine. Otherwise, those terms that I just applied 'less than human and disposable' become very real in that is how humans view human slaves.