Maid in Heaven: Ai to Iu Na no Yokubou

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The protagonist has a dream to have a maid someday. One day, his childhood friend, Nagisa, visits him. When they were children, he told Nagisa that he liked maids. Nagisa remembered his words and came to him as a maid. Finally his dream came true and he begins to enjoy his night life with her...

Source: IGDB