Any halfway skilled artist should be able to do that, all you need to do is have a character with animations, which then can be imported into Torque, the only conversions needed is the Torque specific node setup, so the engine knows how to handle, LOD levels and such, the animations will then be assigned in the engine through Torquescript. Once you have the character ready, you can even do the conversion yourself, it is not that hard.
Mixamo is a subscription model software, see their plans: https://www.adobe.com/creativecloud/plans.html
It is quite expensive and I have no idea how it works, since I prefer open source software, but I know this is something professionals use. You can also search the market for cheaper less complicated software, there may be a bunch of them out there.