Patalliro Saiyuki!

A Buddhist monk named Genjou Sanzou is tasked by the Emperor with retrieving sacred Buddhist scriptures. During his journey, he encounters an Earth Deity who informs him that Buddha has sent a disciple—Son Goku, a mischievous Monkey Deity who had caused chaos in Heaven and was sealed in a mountain for five hundred years. Sanzou is joined by Cho Hakkai, an alcoholic playboy; Sagojyou, a general from the heavenly army; and Ryuuba, the Dragon Crown Prince who serves as their horse. Their journey includes battles with monsters and participation in bishounen contests.