Is Tantei Kageki Milky Holmes TD hentai?
No
Rated PG-13 (Teens 13 or older) on MyAnimeList and not tagged as Hentai.

TV · 2015 · 12 episodes · PG-13 - Teens 13 or older
Comedy, Detective, Mystery, Parody, Super Power
There have been many cases of stolen songs happening among the idols in Yokohama District recently. Even super idol Marine Amagi's hit song "Kiseki no Uta" was taken away. At the request of Marine, the Milky Holmes team starts investigating the case. (Source: Crunchyroll)
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