I think Darling's Cabaret has a decent line-up every evening but some of the women are pushy and the dancing is strictly no touching, if you want a more 'personal' dance you'll have to go to a private room and pay considerable money for what is, lets face it, just a dance (not to mention the constant 'this is extra, that is extra, this costs more, bla bla bla).
I had one great experience at Sweet Paradise, a young lady did a great private striptease/lapdance and a little extra for 800czk / 2 songs so basically 10 min max.
There's also Rita's Club (on Seifertova) but it's only so and so, Club Victori also on Seifertova (same as rita's) and then there's Extasy Cabaret (on Chlumova 13) which is OK.
You'll need a little luck to find a good place and a skilled stripper. Also winter is not the best time. To me Prague is not a great place for stripclubs.
Hope this is of any help.