Oushitsu Kyoushi Heine
The Royal Tutor

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It's about a tutor and his pupils. They start in a similar way, students don't accept the tutor and this one has to find a way to convince them to learn, the students finish liking the tutor. We could say that the tutor made a complete harem of varied characters BUT OKH is not yaoi (it can be considered as bishounen: pretty boys, like a reverse harem but only the boys) and the term harem is used to refer to a group of persons interested for one person in a romantic way. And also, the princes are brothers and the quintuplets are... quintuplets. But, Oushitsu Kyoushi Haine is more likely to be more enjoyable by girls than boys and 5-toubun no Hanayome on the contrary, well everthing depends on likes. Finally, OKH is more comedy and SoL (but there is drama too) driven while Quintuplets is like a romantic comedy. read more 

As of right now, they're both still publishing, and one only has 2 volumes under its belt, but I've noticed some similar elements. They each have that royal aesthetic, following heirs to a kingdom in a world that hasn't quite caught up to real-life technology. They also each focus more on the technical/political aspects of running a kingdom than your typical fantasy. (Which is the main thing that made one remind me of the other.)