No, 'pleasurely' is definitely not a word.
With your example of the dress, you could say:
'It's my pleaure to give her a dress'
or
'I give her a dress with pleasure'
Those a correct grammatically, but they don't sound very natural - they are not things which a native English speaker would say.
The adjective 'pleasurable' is used differently. You would say eg 'Swimming is a pleasurable activity', but it wouldn't work with your example of giving a dress.
The only natural way to use 'pleasure' in that situation is, maybe:
Girl: Thank you for giving me the dress.
You: It was a pleasure.