Decided to try my hand at this.
https://www.youtube.com/watch?v=ExbEcmUyvw8The title of the video on youtube was こてんぐテン丸(人形回)Aパート
But the anime is called Bemubemu Hunter Kotengu Tenmaru / べムべムハンター・こてんぐテン丸
The scene in question happens at about 8:25.
But, if you watch the link on youtube she has a cute blush (no panties) at 7:05, if you're like me and like cute milfs blushing.