No, it is not rape. Of course, you would have to check the definition of sexual assault (or rape) under the state but consenting to the penetration with or without ejaculation is not sexual assault. For instance, in Illinois "A person commits criminal sexual assault if that person commits an act of sexual penetration and:
uses force or threat of force;
knows the victim lacks capacity to give consent;
is a family member of the victim and the victim is under 18 years old;
is at least 17 years old, holds a position of authority or trust over the victim, and the victim is between 13 and 18 years old.
It does not matter if the violator ejaculates or not. There is no defense to the rape statute that the person did not ejaculate. I think that because sexual penetration is an element of the statute only a man can be charged with sexual assault. It seems that a woman would be charged with sexual abuse.