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Want to date Madonna?

Entourage star Debi Mazar has had plenty of dates with the pop icon -- at least while their kids are present.

"Madonna and I have been friends for almost three decades -- dear friends," Mazar, 45, tells "Our children have had play dates, and we will always be friends."

Mazar -- who appeared in five of Madonna's music videos, including "Papa Don't Preach" and "Justify My Love" -- says that they "enjoy each other's company immensely" when she brings daughters Evelyn, 7, and Giulia, 3, to get-togethers with the singer's children, Lourdes, 12, Rocco, 8, David Banda, 4, and Mercy 3.

"We are both creative minds," she says, adding that she hopes to work with her again.

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Still, she admits it's hard to find time. Although her stint on this season's Dancing With the Stars is over, the HBO actress -- "I am a fabulous character on a show about men!" she jokes -- hosts a Tuscan cooking show online with her husband Gabriele Corcos.

How does she do it all? She gets her kids in on the fun.

"I think moms have to take the time to make sure they do the best they can to nourish their families," she says. "My daughters are serious about cooking in the kitchen... I think it is important to establish a healthy attitude about what we put into our bodies from an early age. My husband says, 'If your child knows how to work a Nintendo, he or she can chop an onion.'"

Mazar -- who says "the idea of taking a bubble bath is a luxury for me" -- has even found ways to multitask her beauty routine.

"I've used Dr. Hauschka Skin Care products for about 30 years, so I'm very excited about Dr. Hauschka Holistic Home Remedies," Mazar has said. "The Mercurialis Wound Rescue is amazing for kids' scratches and cuts!"