Outlaw Star is based on a 1997 manga series of the same name by Takehiko Ito. That series is, in turn, a spin-off of an earlier parody manga series, also by Ito, called Space Hero Tales ("Uchuu Eiyuu Monogatari," also known in English as "Future-Retro Hero Story"). The Outlaw Star anime series has its own spin-off TV series, Angel Links.
Gene, I was so scared!
Gene Starwind: Don't worry, everything's alright now.
Jim Hawking: Is that why you have your hand on her ass?
There was an episode that Cartoon Network never aired, "Hot Springs of Planet Tenrei". This was because this episode featured extensive nudity and sexual innuendo.