R. Kelly satisfied his sweet tooth while shooting the racy video for his sexual single “Cookie,” the first visuals off his album Black Panties, due Tuesday. The self-proclaimed Cookie Monster brought the ‘hood to a mansion and filled it with scantily-clad ladies, who worked the pole in their black panties and posed as sexy French maids.

“I’m bringing the milk,” said Kellz as women paraded around in lingerie. “I got all kinds of cookies up in here. They’re round, they’re square, triangle, some of them are heart shaped.”

He poured milk into a bath while singing about “licking the middle like an Oreo,” and even gave his co-stars some acting tips.

Watch Kellz take a dip into the cookie jar.