If you haven't seen KissxSis, that is a good anime. But there is no actual nude in it, just some funny scenes.
Seikon no Qwaser is also a good anime for the description you have given. At least the first season, the second one was kinda bad in my opinion.
Rosario + Vampire is also ecchi but doesn't show anything either.
Girls Bravo was also a anime that was funny with lots of nudity if i remember correctly.
As said above, Ladies versus butlers is also worth looking at. Both funny and mild nudity. There were some rumors of a second season but it still isn't made official.
Elfen Lied is mild nudity and a lot of horror.
And the last one i can think of is, Agent Aika. It's a action/thriller not that funny though, but still some nudity.
That was all i could think of.
By the way, the picture that OP posted, from what anime is that?
