Sure, Namco Bandai's Queen's Blade Spiral Chaos makes suggestive use of milk, but the PSP game is also packed with pointy and bouncy things.
Queen's Blade is originally a Lost Worlds style "combat picture book game" and has been published in Japan for the last couple of years.
Queen's Blade features only female characters, and its spin-off series Queen's Gate has showcased the likes of Iroha (Samurai Shodow), Mai Shiranui (The King of Fighters) and Dizzy (Guilty Gear). Queen's Blade has also been spun off into an anime.
Spiral Chaos slices up Japanese PSPs this December.
NSFW: Queen's Blade: Spiral Chaos PV [PSP Hyper]