Disgaea is a video game series that includes anime clips, and the first game also got an anime TV series adaptation. It is part of a broader Nippon Icchi universe and crosses over with other games in it, such as Cross Edge, La Pucelle, Makai Kingdom, Marl Kingdom, Phantom Brave, Soul Nomad, Trinity Universe, Weiss Schwarz and Zettai Hero.
Makai Senki Disgaea (anime)
Makai Senki Disgaea (Makai Senki means something like "Hell Chronicles" or "Netherworld Battle Chronicle") was a 13-episode TV anime series based on the first Disgaea video game (on the Playstation 2) of the same name (which in English was released under a title differing from the literal translation: Disgaea: Hour of Darkness, it was also later adapted as "Disgaea: Afternoon of Darkness" on the PSP and "Disgaea DS" on the Nintendo DS)
Here Flonne is bathing while Laharl and Etna stand by the bath with Prinnies.
A Prinny, along with Etna, is available as a playable character. He seems to be a reincarnation of a pervert criminal, as seen as he always peeping on the girls when they're bathing.
Disgaea 2: Cursed Memories
The "Dark Hero Days" PSP port includes bonus artwork of Rozalin and Yukimaru in a Hot Spring. Roz is holding a Drink in one hand while using her other arm to do Breast Covering. Yuki has a white towel covering herself.
Disgaea 3: Absence of Justice
The description of the "Cowboy Hat" accessory/armor for the Marksman class is "You can't take it off, even in the bath."
Disgaea 4: A Promise Unforgotten
Gig mentions Revya (star of Soul Nomad and the World Eaters) when he's spoken to on the campaign map, complaining that he was "so constrained in my partner's body. She would tell me not to watch her bathe."