Zelda was never released on the 3DO, that was the Philips CD-i that got a Zelda game, three of them actually. One being a remake of the original NES game but with digitized graphics (https://en.wikipedia.org/wiki/The_Legend_of_Zelda_CD-i_games).

As far as I know, there are no Zelda style games on the 3DO - top down, action adventure. There are action shooters like Captain Quazar but that is more Ikari Warriors or Guerilla War than action adventure.

The vampires and near nudity has me lost. I know there was a fighting game that only saw limited release, if at all, in beta testing (later released at a large arcade) called Tattoo Assassins. It had "nudalities" -

I believe there is a working unit of Tattoo Assassins at Galloping Ghosts arcade in Illinois. Just checked, there is, it is #888 on their games list - https://www.gallopingghostarcade.com/games-list/

There was a game called Love Bites on 3DO by Vivid Entertainment that contains nudity - https://nerdbacon.com/vivid-interactive-3do/ (Vivid being an adult movie publisher).

I cannot think of any others on 3DO that have a vampire in them, let alone nudity/partial nudity as well. There are a couple that are "similar" looking that might fit what you are thinking of.

Hell: A Cyberpunk Thriller (I loved this game, it was awesome but I was new to anything beyond Nintendo at that point) -

D. I have this one here because some think the main protagonist is a vampire (though she exhibits no tendencies in the actual game beyond looking like the undead) -