This version of the Steal Princess intro is from the Japan-only Steal Princess pre-order bonus Drama CD; however, I'll bring this down, if requested.

Artist/Vocalist: 榊原ゆい (Yui Sakakibara)
Title: Steal Princess

Game: Steal Princess ～盗賊皇女～
Developer: Climax Entertainment
Publisher(s): Marvelous Entertainment (Japan), Atlus USA, Rising Star Games (Europe)

PS: any additional information is appreciated.