Alyssa Milano may be the new star of the ABC soap Mistresses, but she’s not only seductive and scandalous on the small screen!The actress strips down for the new issue of Maxim, where she graces the cover in nothing but panties and an open button-down flannel shirt that reveals her bare breasts.Coming a long way since her days as Tony Danza’s TV daughter on Who’s the Boss, the mother of 22-month-old Milo says it was easy maturing in the spotlight because she “didn’t know any different.”"You know, I went through puberty like everyone else; it only got embarrassing when the show would take what was going on with me and write it into the show, like 'Samantha's First Bra,” she recalls of the hit show. “It was like, OK, guys, do we really need to do this? But what an awesome time stamp!"Decades later, the 40-year-old is finally embarking on her hottest role yet in Mistresses as Savannah “Savi” Davis, a happily married lawyer who has an impulsive one-night stand with her long-time co-worker.“I look at Savi as being a really good person who makes a really bad decision and then sort of has to deal with the repercussions of that,” Alyssa says. “It’s not only the potential end of her marriage, but also her friendships. She becomes very alone.”Thankfully, her tumultuous onscreen life is nothing like her real-life happily ever after. The sultry TV star has been married to Dave Bulgari since 2009 and is grateful that she’s had the chance to continue working in the industry she loves. "I think Christina Applegate and I are the only two who maintained some sort of career path past the shows that launched us,” she says. "But I have a great family, and I look at a lot of these kids who struggle in the industry and think they'd have struggled no matter what they did."