There is an Easter Egg in the Family Guy Blue Harvest DVD (I believe it was under the Sound Options section) where the actors are going through a reading of The Empire Strikes Back Family Guy Scripts. Also, in the interview with one of the creators he mentioned them making one for Empire and Jedi.

It's pretty damn funny, if you appreciate Family Guy's Humor.

Princess Leia addressing the rebels on Hoth.. "We will be escaping the planet on Carriers. We have an infinite amount of direction to flee the planet, but we will be heading straight for the Star Destroyers instead"

Leia to Luke "It's strange, when I kiss you I feel like I'm kissing my brother"
Luke "That's ok, I was raised on a farm"