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Pigtronix Infinite Looper should be able to do that.

Here also another thrusty Boss RC3 user.
Actually I use it to play live the backing tracks my doom solo project The Land Of The Snow!
I put the tracks in the right order (setting one shot instead of loop mode), so that in the middle of the playing song I just have to push next on the aux switch, so that the upcoming song will be loaded as soon the other is done.

On the Pigtornix Infinity you can also store loops (2 per bank), but I never use this option. and to scroll thru the banks you have to turn by hand the encoder.

another shout for the digitech jamman stereo. Used it in the same way requested for years live. Pre-rec samples or live looping.
The only downside I guess is digitech's library software doesn't seem to work on windows 10. Still gotta try on win8.