This is based on the 1997 OVA adaptation of Detatoko Princess, featuring 4 characters: Lapis, Nandra, Topaz and Selena.
Lapis is the princess of some kingdom. When she gets transported far away from home, she must find her way back, with her trusty fairy friend, Nandra. All the while being pursued by "pretty girl collector" Topaz. Along the way she meets the priestess, Selena.
Also, if Lapis doesn't eat pudding every day, then she will apparently starve.
Lapis is voiced by Miyamu (宮村優子), who you might know as the voice of Asuka from Evangelion.