There's a few minotaurs, one you fight, one is the bartender Belle, and one is the proctor of power side of the Will-Power temple, Minoni.. You can technically have sex with all of them but the random mino doesn't strip, the two other others will strip. Sex (and nursing) with Belle is during a night shift at the brothel, helping her make drinks (if you get a "doing whatever she tells you to do" it's gonna happen) and with Minoni you need to ask her about a romance series (Ludiciam Sweethearts) and after a few, uh, mishaps (Kotone messing with her), she'll be open to sex.
There's also a manticore on the mountain. You can either fight her or give in to her demand of "tail sex". If you agree to the tail sex, get addicted to it, and a few glory hole sessions gone wrong (she requests you for a night of fun) you can find out her name. Personally I don't bother with the tail sex, rather fighting her and pounding her pussy. At first she's "ACK! Wouldn't you rather my tail??" but she'll get used to it...she's a fun one! I just know her as "scary scorpion lion lady" since I don't deal with the tail sex but if you like that, go for it!