Are there any Sonic games where you can be Super Sonic anytime you want

No there aren't,
Sonic gets super sonic using the 7emeralds, and when he is sonic his ring amount will be decreased with 1 each second. So if you would have 0rings you go back to sonic directly anyway.

I recommened you to try sonic the hedgehog 4 episode 1. When you got all 7 emeralds you can be super sonic anytime in any stage you want but you need at least 50rings.