MAID iN HEAVEN ～愛という名の欲望～

The protagonist has a dream to have a maid someday. One day, his childhood friend, Nagisa, visits him. When they were children, he told Nagisa that he liked maids. Nagisa remembered his words and came to him as a maid. Finally his dream came true and he begins to enjoy his night life with her...

[Edited from AniDB]