Season 5, Episode 16, episode title: "Cover Me"
The hot actress is Aya Sumika:
The girl who is forced to strip is an undercover cop/agent, her character's name is Liz, and played by Aya Sumika (http://www.imdb.com/name/nm1628101/
The bad guy who is laying on the bed is Pritchard, played by actor Don Harvey (http://www.imdb.com/name/nm0367496/
I stumbled upon this completely accidentally, a few minutes ago, when I was watching one of the sat channels and that scene was playing. What a coincidence!:)
EDIT: It seems that the original video under the dailymotion link has been removed.
Here is the strip scene in question on Youtube: