<Tr> <Th_colspan="2"> Alternate cover </Th> </Tr> <Tr> <Td_colspan="2"> UK 12" cover of "We Don't Have To ..." </Td> </Tr> <P> "We Don't Have to Take Our Clothes Off" (released in the United Kingdom as "We Don't Have To ...") is American R&B vocalist Jermaine Stewart's first of three singles from 1986 . The song was included on his second album Frantic Romantic, released that same year . "We Don't Have to Take Our Clothes Off" remains Stewart's biggest commercial success in both America and Europe . </P> <P> The song acquired a great deal of success after being used on the hit 1980s television show Miami Vice and reached number 2 on the UK and Canadian charts, as well number 5 in the United States . </P>

Who sings we don't have to take our clothes off to have a good time