In all of the (very few) times where I was involved with or heard of a group that played strip poker or nudity-involving truth or dare, there was lust involved and the game serves as an 'easy but fun' way to start the evening, with intentions that are more explicit then "Let's just hang out naked and have a drink". I don't think there's anything 'tame' like that on the market because it wouldn't sell, and you can very easily involve stripping with any other game already out there. At the youth naturist camps stripping dares can come up with regular card games, but so does drinking alcohol and about any other dare that you can think of that would amuse a bunch of 20-year-olds. You can make any game as fun as you want it to be and change the rules. They're templates on which you can add additional rules that everyone can agree on.
Have you done anything with this group of friend since your first post? I'm curious about the group dynamics and how that would go. It's not something that would work for everyone for sure.