Maid cafes do not generally involve any "hanky panky" except in the customers' imaginations. They are basically just regular cafes/restaurants with bubbly overdressed waitresses.

If you walk around Akihabara you will see many maids in the street trying to pull tourists into their cafes and you can gauge content/English ability by talking to them. Quite a few of the cafes have routines in English since so many foreign tourists are interested in the concept.