"Galavant" stars Joshua Sasse as Galavant, Timothy Omundson as King Richard, Vinnie Jones as Gareth, Mallory Jansen as Madalena, Karen David as Isabella and Luke Youngblood as Sid.
In this sexy clip from EW, guest star Kylie Minogue performs the chorus number "Off With His Shirt":
ABC earlier posted a teaser video with snippets of some of the season's new songs:
"Galavant" delivered solid ratings in its Jan. 4, 2015, back-to-back premiere episodes, and continued to do well during its four-week truncated first season. The premiere episode of "Galavant" was watched by 6.1 million viewers overall with the follow-up episode viewed by 6.8 million overall.
"Galavant" is written by Dan Fogelman, who also serves as executive producer.
Menken's animated film musicals Beauty and the Beast, The Little Mermaid and Aladdin were adapted for Broadway. He also composed music for Newsies, Sister Act, Little Shop of Horrors, King David and other shows.
Here's how it's billed by ABC: "Screenwriter/executive producer Dan Fogelman ('Crazy, Stupid, Love,' 'Tangled,' 'Cars') teams up with Broadway and Hollywood award-winning musical team — composer Alan Menken ('The Little Mermaid,' 'Aladdin,' 'Beauty and the Beast') and lyricist Glenn Slater ('Tangled')—for a musical comedy fairytale of epic proportions. Once upon a time, the dashing hero, Galavant (Joshua Sasse), lost the love of his life, Madalena (Mallory Jansen), to the evil King Richard (Timothy Omundson). Now, our fallen hero is ready to take revenge and restore his 'happily ever after.' But it won't be without a few twists and turns along the way."