Onna Maou Melissa no H na Boukenki

Rufia the swordsman accidentally seals away the magic powers of her master, Queen Melissa and Marina the maid. The Demon Queen swears to break the curse, thus the trio sets off on an adventure. However the world is full of lustful monsters and with their regular magic locked away, the only way to combat the monsters is to obtain semen and use it as finite mana... (Source: AniDB)