“Off with his shirt!”

Kylie Minogue has the right idea when it comes to her Galavant co-star Joshua Sasse. The
47-year-old Aussie singer joins the new season of the ABC comedy-musical as a medieval
queen with a taste for scruffy, shirtless men. In this case, it is Galavant,
who is played by Sasse.

WATCH: Kylie Minogue Spills on Her 'Young & Hungry' Character's Very Big Secret

In ETonline’s first look, Minogue strips Sasse down, giving
fans a much-welcome look at the 28-year-old Brit’s sexy body. Of course,
Minogue adds her signature style to the original music composed by Alan Menken
and Glenn Slater.

On the show, Minogue plays a renaissance beauty from the Enchanted Forest in West Hollow-wood and a love interest to Galavant. Off screen, the two co-stars are also dating, after meeting on set.

“It’s going great,” Minogue gushed to the Daily Mirror about the budding relationship. “People can see that we just work together. There are birds flying around my head all the time.”

MORE: Check Out Kylie Minogue's Scotland Stage Styles!

In another interview with The Mail, she described how elated she was to be dating the actor. “I can’t actually put into words how happy I am,” she said. “We just completely fit together. He gets me, I get him.”

Well, the on-screen chemistry is palpable and we can’t wait to see more when Galavant returns on Sunday, Jan. 3 at 8 p.m.

If you're not familiar with the series, let John Stamos get you call caught up. The actor, who appeared in the first season, gave ET a behind-the-scenes look at the new show. "This actually may be the most fun I have had in a long time working on anything," he said. "It's better than I imagined it would be."

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