Are there any companies that assist an independent contractor with paying all taxes on income?

Do you mean in determining what to pay or in loaning or granting you the money to pay them?

Any CPA will prepare your tax filings for you.

Read about self employed tax filing: Your U.S. Tax Return: Tax Filing by Self Employed Sole Proprietor or Independent Contractor

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Some CPAs will actually issue the tax payments to the IRS for you. How much service a CPA firm gives you depends on how much you want to pay them.

Virtually EVERY tax professional will prepare the quarterly estimated tax payments that are used to pay taxes on income earned in a business or as an independent contractor.