Answers to Quora Questions by Yair Davidiy (7 December 2017, 20 Kislev, 5778)
Does Judaism have any prohibition against religious symbols appearing on clothing? Would underwear with Jewish symbols like menorah be considered offensive?
https://www.quora.com/Does-Judaism-have-any-prohibition-against-religious-symbols-appearing-on-clothing-Would-underwear-with-Jewish-symbols-like-menorah-be-considered-offensive/answer/Yair-Davidiy
As far as I know there are no symbols or images with an innate sanctity. If you did have a Jewish religious image on an inner garment I suggest you use your common sense. If you think it is disrespectful do not use it. Technically however only written texts are considered sacred. Jewish law requires that Sacred Names or Biblical passages, etc, should not be treated with disrespect. You should also not have them exposed in unclean places. Do not read the Bible in the toilet. These laws apply to Jews. As far as non-Jews are concerned I cannot say but I assume that to them too the same principles in this case may apply.