Dragon Ball: Sleeping Princess in Devil's Castle
Dragon Ball: Majinjou no Nemuri Hime · ドラゴンボール 魔神城のねむり姫
Synopsis
Goku and Kuririn are given an assignment by Kame-Sen'nin: "Retrieve the sleeping princess from Lucifer and I will take you as my students." But the mission proves to be more perilous than originally thought. (Source: Anime News Network)
Studios: Toei Animation, Funimation
Source: MANGA