To celebrate the Tuesday release of his new album, Black Panties, R. Kelly has issued the racy video for "Cookie," the first clip from his much-anticipated project.

The self-proclaimed Cookie Monster parties with lingerie-clad models inside a sprawling mansion. At one point, Kelz even dips his Oreos into a bathtub full of milk.

"I’m bringing the milk," Kelz previously said during an on-set interview. "I got all kinds of cookies up in here. They’re round, they’re square, triangle, some of them are heart-shaped."

Black Panties is in stores now.