My friend has a fear of dying. Can hospice provide counselor's?

Absolutely. Depending on the hospice, it might be a social worker, or nurse, or chaplain. But most people are fearful of dying, and it's important to address it. So encourage your friend to find the right person for him or her. Talking through this is very beneficial for most patients, because it can ease fears, and help people plan and draw on their own resources.
Usually. Most hospice and palliative care groups will have counselors who can help with the process of dying. Your friend should talk with their physician about options available for their situation.