Is it ok to discuss my background as an exotic dancer in my personal statement?

If you set it up the way you describe, I think it would make a very powerful personal statement. Two of the essential qualities a social worker must have are (1) the ability to be nonjudgmental, and (2) the ability to empathize. Your particular life experiences, including -- and perhaps even especially -- your having been an exotic dancer, have given you opportunities to develop those qualities to an exceptional degree.