Rachel Chagall

Rachel Chagall (Born on November 24th 1952) is an retired American actress.

The Nanny
In the season 3 episode 5 entitled "Val's Apartment", Val (played by Rachel Chagall) removed her right shoe when Fran tells her to use it to kill a roach, not knowing that she mistook the idea as she removed it but instead of using it to kill the roach, she uses her barefoot to kill it instead.

A video of the action can be seen here: https://www.youtube.com/watch?v=EIWu4BdXnKs