Goku and Kuririn are given an assignment by Kame-Sen'nin: "Retrieve the sleeping princess from Lucifer and I will take you as my students." But the mission proves to be more perilous than originally thought.
| Actor | Role |
|---|---|
 Masako NozawaSon Goku (voice) | Son Goku (voice) |
 Mayumi TanakaKuririn (voice) | Kuririn (voice) |
 Nachi NozawaLucifer (voice) | Lucifer (voice) |
 Hiromi TsuruBulma (voice) | Bulma (voice) |
 Toru FuruyaYamucha (voice) | Yamucha (voice) |
 Naoko WatanabePuar (voice) | Puar (voice) |
 Naoki TatsutaOolong (voice) | Oolong (voice) |
 Shozo IizukaShitsuji (voice) | Shitsuji (voice) |
 Daisuke GoriGhastel (voice) / Kame (voice) | Ghastel (voice) / Kame (voice) |
 Kohei MiyauchiKame Sennin (voice) | Kame Sennin (voice) |
 Mami KoyamaLunch (voice) | Lunch (voice) |
 Kazuo OkaGoblin (voice) | Goblin (voice) |
 Ryoichi TanakaGoblin (voice) | Goblin (voice) |
 Ikuya SawakiGoblin (voice) | Goblin (voice) |
 Masato HiranoGoblin (voice) | Goblin (voice) |
 Kazumi TanakaGoblin (voice) | Goblin (voice) |
 Yoko KawanamiInstructor (voice) | Instructor (voice) |
 Joji YanamiNarrator (voice) | Narrator (voice) |