I think regular good wait staff would be fine as it would be all about the show. I imagine a reasonably large stage and each routine would involved 2-3 dancers telling a story. 2 men fighting over a woman, damsel in distress rescued by knight, cowboy,etc, a cheating husband and his two partners, a sailor returning from war to find his wife with another man...there are dozen and dozens of possible scenarios would could be expanded into an erotic dance complete with multimedia backup, costumes and props.
These wouldn't be your run of the mill 22 yr old uni students looking to make a buck by flashing their tits, I'm talking properly trained dancers who are willing to push their boundaries.
Tickets wouldn't be cheap of course, probably $180 per couple but they get a great meal in classy surroundings while watching a show specifically designed to get their juices flowing.
Of course, husbands might prefer lingerie clad waitresses but we wouldn't be offering any kinds of hands on experiences...that's what the partners are for.
I don't see licenceing being an issue at all, it's just an adults only dinner theatre with some boobs out.