Correct intinction is permitted everywhere as the method for giving Communion under both kinds. From the 2004 Instruction Redemptionis Sacramentum:
“[103.] The norms of the Roman Missal admit the principle that in cases where Communion is administered under both kinds, “the Blood of the Lord may be received either by drinking from the chalice directly, or by intinction, or by means of a tube or a spoon”.[191] As regards the administering of Communion to lay members of Christ’s faithful, the Bishops may exclude Communion with the tube or the spoon where this is not the local custom,
though the option of administering Communion by intinction always remains.”
(My bold text).
What I think you are thinking of is (from the 2002 General Instruction of the Roman Missal (GIRM) approved for the USA, which can be accessed from
romanrite.com/girm.html ):
“282. Sacred pastors should take care to ensure that the faithful who participate in the rite or are present at it are as fully aware as possible of the Catholic teaching on the form of Holy Communion as set forth by the Ecumenical Council of Trent. Above all, they should instruct the Christian faithful that the Catholic faith teaches that Christ, whole and entire, and the true Sacrament, is received even under only one species, and consequently that as far as the effects are concerned, those who receive under only one species are not deprived of any of the grace that is necessary for salvation.”
But this is not the same a saying Communion under both kinds is forbidden. When it is permitted is explained more clearly in GIRM n. 283.
“283. In addition to those cases given in the ritual books, Communion under both kinds is permitted for
a. Priests who are not able to celebrate or concelebrate Mass;
b. The deacon and others who perform some duty at the Mass; …”
So it sounds like the altar servers, lectors and Extraordinary Minsters should always be offered Communion under both kinds, the way a deacon is.