Watch Kylie Minogue in a Sexy Fairy Tale Scene From the New Season of Galavant

Our favorite medieval musical comedy, Galavant, returns to ABC this Sunday, January 3, and it's going to epic. Just check out this exclusive first look at the episode featuring Kylie Minogue as a Queen in a fairy tale sequence. Galavant (sexy, scruffy Joshua Sasse) is to be punished, and it turns into the gayest thing imaginable, as she orders in song: "Take Off His Shirt!"

One of her peasants asks: "Will we be throwing him in the dungeon or tossing him to the bear?"

And she responds by telling the men to "Strip him down, don't be shy boys, go to town/ I bet that chest is heaven-blessed, so firm/ Check that six-pack, it's to die."

Soon Galavant is a shirtless bartender and receiving plenty of tips for exposing his hairy pecs, which he also did in Season 1 during a naked bath scene. So it seems the team behind this camptastic show have finally realized who their core audience is and are playing to Sasse's assets.

As has been reported, Kylie fell for her younger beau while filming on set, and she's tired of people talking about their age difference--Sasse is 27--and calling him a "toyboy," stating: "'I think its derogatory to both of us. I would love to nuke that word. It bounces off us because it's not like that with us. But God, I'd love to see the back of it."

Galavant returns Jan. 3, 2016 on ABC at 8 p.m. ET/7 Central. Watch the exclusive clip below: