While Tenchi Muyo! is quite popular, there isn't an official English dub for Tenchi Muyo! GXP, which is what I think you're referring to by "Tenchi no Shippo Chu".
Tenchi Muyo! has had several different English dubs for various series, including:
* Tenchi Muyo! (1995)
* Tenchi Muyo! Ryo-Ohki (1996)
* Tenchi Universe (2001)
* Tenchi Muyo! War on Geminar (2004)
However, Tenchi Muyo! GXP hasn't received an official English dub, although it's been licensed for distribution in English-speaking countries. You might find it subtitled, though.
Let me know if you have any other questions about the Tenchi Muyo! series!