Stupid question

Anyone remember an older anime where the main character has a familiar ( i think of the dog family) that allows him to teleport (always ending up naked).  Do to this he ends up most episodes in jail as a streaker.  I don't even remember it as being good but the damn thing has been sitting on the edge of my mind for a few days and I can't remember the title.  Anyone out there have a clue what I am talking about?

Daisy