I've seen it introduced in beginner method books. The technique does not lend itself exclusively to advanced music.
Why do this? Sometimes it promotes better line, and the motion of the crossover is more fluid then then that of shifting the opposite hand. Another reason is to achieve a certain tone, and that of the crossover is preferred to that of the shift.
Here is some music to examine:
Bach - Partita 1, BWV 825, Gigue
Franck - The Chorale from Prelude, Chorale and Fugue