The pic of Starfire jumping out of her boots in in this very thread. What's more there was one VERY brief and VERY wide shot of raven's bare foot in the episode where Cyborg and the Titans attack Brother Blood's new HIVE academy and were forced to ride inside Whale-Beast Boy's mouth.
Searching the web, I came up with what appears to be the episode. Episode 8 of season 3, according to Wikiquotes (didn't find this on Wikipedia, oddly); which translated to episode 34 of the series, according to TV.com. Sorry if the post is big.
Episode: Wavelength
After the destruction of the H.I.V.E. academy, Brother Blood and his minions rebuilt a fortress undersea and plans to create a giant cannon using Cyborg's blueprints to shoot the sea and flood the whole city. Aqualad quickly alerts the Titans of Blood's new scheme and the Titans take the T-Sub to stop Blood's newest plot. Unfortunatley, Blood's got some new tricks up his sleeve - and it's gonna be alot tougher for the Titans to stop him then they thought.
Starfire: (Inside Beast Boy as a blue whale) Although Beast Boy's quick thinking has saved our lives, I believe I am... grossed out?
Cyborg: Hey there, Bee. Haven't seen you since--
Bumblebee: Since you betrayed headmaster and ruined our school?
Cyborg: I was gonna say the Sadie Hawkins dance, but yeah, that, too.
[Beast Boy as a whale, Spits out the titans out of his mouth]
Raven: Two words...."Breath mints".
Cyborg: And Blood couldn't brainwash you because...?
Bumblebee: There's not a man alive that can tell me what to do.
Starfire: I am hopeful we will not encounter more HIVE soldiers.
[Robin, Star, and Raven open and walk through the door and see more HIVE soldiers.]
Raven: You had to say something.
Brother Blood: Another spy? Tell me, was anyone at my school actually there to LEARN?!
Bumblebee: (approaching, holding up a CD-ROM) I lifted your blueprints from the HIVE mainframe, so Blood can't ever use 'em again.
Cyborg: (grabbing at it) Gimme that!
Bumblebee: Uh-uh. If you go down, I might need this to complete the mission.
Cyborg: Please. They're not just plans. They're me-everything I am. My body, my brain, my feelings-
Bumblebee: Relax. I only read the sonic cannon stuff...and a few memory files about the big crush you had on Jinx.
Robin: We need to get out of here!
Bumblebee: How?
Cyborg: The T-Ship's toast.
Beast Boy: Hello! (Points to his tongue)
Raven: I'd really rather just stay here and drown.