Technically 7 of 9 was Human with Borg implants.....

Inara was really hot, and OMG Amy Pond is adorable, but still all Humans.

For Cybersex involved, there are the new sex bots in Almost Human.

Number 6 of BSG is a top choice.

Then there is Pris from Bladrunner.... Aweee

7 of 9 all the way.  Was never into the BSG girls.

Agreed on the women on Firefly though... Inara and Kaylee were hot.  And in Doctor Who It's pretty much a toss up between Peri and Clara though Amy Pond is no slouch.  

Although there's a number of guest actresses on the original Star Trek that still give me serious wood when I see them in reruns or other TV shows they did in back in the day... Emily Banks, Sherry Jackson, Marianna Hill... yum