Sill is a slave purchased by Rance. Even though the "Absolute Obedience magic" has worn off, she remains single-mindedly loyal to Rance.

(Source: Alicesoft Wiki)

Anime adaptation of the 2013 re-release of the 1989 AliceSoft adult PC game Rance 01: The Quest for Hikari 
 
The barbaric warrior Rance loves nothing more than the company of beautiful women. Traveling around the continent with his faithful slave Sill Plain, Rance takes on odd jobs for a chance to appease his insatiable libido. Although his perverted instincts often land him in hot water, people from far and wide nevertheless laud his heroic feats.
 
While undertaking a request to locate a missing noble girl, Rance and Sill arrive in the majestic Kingdom of Leazas. As they split up to investigate several leads, Rance finds himself aiding the townsfolk with various problems, from rescuing a kidnapped barmaid to purging an undead outbreak. Amassing both fortune and females, the warrior eventually uncovers a dark secret within the kingdom that only he can stand against. 
 
(Source: MAL Rewrite)

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She is a voice actress currently affiliated with I'm Enterprise. She graduated from the narration school Nichinare.

Based on the erotic game by Alice Soft. 
While Rance might well be one of the best swordsmen in the world, he has the personality of a rancid turd. He is narcissistic, lecherous, abusive and almost without any redeeming social graces. And his underclad and overabused slavegirl Sill knows this, but she is still in love with him. One day Rance is hired to defend a dusty and forsaken desert village from the repeated attacks of scantly clad and oversexed sorceress intent on the resurrection of a long forgotten deamon. 
(Source: AniDB)

Sengoku Rance is the tenth release of the Rance series launched by Alicesoft. The story takes place during the 4th sengoku (warring states) era of JAPAN, an area of the Rance World which parodies medieval real-world Japan. 
Sengoku Rance picks up where Rance 6 left off. Rance, after saving the nation of Zeth from destruction, ran away so he won't have to marry the princess. He and Sill ended up in JAPAN for a hotspring trip, upsetting the power balance of JAPAN, and sets the unification of its provinces in motion. Meanwhile, an ancient evil power stirs from its slumber... 
The actual story of this manga follows the daughter of one of the feudal lord defeated by Rance. She is the last guardian of the three sacred treasure rumored to end the conflict in JAPAN and is now protected by Uesugi Kenshin.

The manga adaptation of Rance X, the conclusion to AliceSoft's 30 year old Rance series. This manga adapts some events from that story and has some original.

A light novel adaptation of AliceSoft's Sengoku Rance.
 
In the far east nation of Nippon, a plethora of feudal lords are fighting for supremacy in the 4th Sengoku Era, Rance and Sill travel to the island country. While they'll go to some hot springs, Rance's goal is to bang all of Nippon's beautiful princesses, samurai, miko, ninjas, village girls, and more. In particular, he wants Kouhime of the prominent Oda clan. When Rance becomes the ruler of one of the feudal states, he charges head first toward uniting Nippon!