Amy Wong in "Next Time On Futurama" preview
I own the complete series on DVD, and on some episodes it has the "next episode" preview.
Amy is in one and her bathing suit top pops off. Anybody know what disc?
There's an actual episode where that happens, but it's not the same thing you're referring to.
I think what you're asking about happened on the "Bender's Big Score" DVD.