Is Oh! Super Milk-chan hentai?
English title: The Super Milk-Chan Show
No
Rated R (17+ (violence & profanity)) on MyAnimeList and not tagged as Hentai.

TV · 2000 · 12 episodes · R - 17+ (violence & profanity)
Action, Comedy, Parody, Sci-Fi
Milk-chan is a drooling, potty-mouthed baby who lives in an apartment with an obsolete robot named Tetsuko, a slug named Hanage, and an uncontrollable pet named Robodog. Whenever the President calls, Milk-chan and the gang rush to the scene to solve any type of problem - whether it's stopping a money counterfeiter hungry for Belgian waffles or counselling a school of drunk fish. At the same time, they have to avoid a nagging landlord, as they're six months behind their rent. (Source: ANN)
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