Nanatsu no Taizai

Nanatsu no Taizai (also known as The Seven Deadly Sins) is a manga series by Nakaba Suzuki in Weekly Shonen Magazine that started in 2012.

Nanatsu no Taizai One-shot
After arriving Filthly, Elizabeth takes a Bubble Bath and stands up in the Bathtub in front of Melodias while the bubbles from the Bath are conveniently covering her body.

Chapter 25.5
Ban has a Skinny Dipping scene.