This is a manga and an anime series about three people from earth. A martial artist, an actress, and a trigger happy high school girl. They get transported to a world with elves and magic with their tank (yes like the army kind) but they lose the spell that will send them back to Japan; and this spell has split into five parts and have attached themselves to the skin of 5 elves, like a tattoo. So the three have to travel this world, fighting weird monsters as they go, searching for elves to undress so that they can go home.
I have not seen the whole thing, but it seems to be your average hormonal teenage boy anime. The dialogue is kind of cheesy and the art is mediocre at best. Though the plot is about a group of people searching the world to undress females, there is no nudity.
The manga was written by Yu Yagami.
Here’s a fan summarizing the series in a few words. The outfit says it all.
And here’s the first episode