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For the Maid Outfits do the "Milking" quest.
For the prisoner ones you have to buy the Princesses in the goblins' Slaves Market! Soon you will be able to get them in the Gazer's Prison too.

so there is no prisoner outfit for the goblin or kobold princess yet?

They'really between the resources, but there isn't a way to get 'em. HA!

Can you please add a method of getting them without enslaving them next patch

The prison/law system will be required for that. The player and his team, if caught, will be sent to the Gazer's Prison and will get prisoner costumes for everyone.