Bayern, who have 65 points from 27 games, are still 13 clear of second-placed RB Leipzig, who visit Mainz 05 on Wednesday.
Following the Hoffenheim goal, Bayern Munich responded strongly with a number of chances against Hoffenheim goalkeeper Oliver Baumann.
Denied as early as the second minute by a wonderful block from covering full-back Rafinha, Kramaric had already gone close with a low drive before Nadiem Amiri shot straight at Ulreich when presented with a glorious one-on-one opportunity.
Kramaric's long-range strike midway through the first half proved enough for Hoffenheim to break their duck against the below-par champions at the 18th attempt.
Hoffenheim goalkeeper Oliver Baumann had more to do in the second half and Bayern almost snatched an equaliser deep into stoppage time when Lewandowski's close-range shot was deflected wide of the goal.
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The Bundesliga leaders threw everything forward in the closing stages of the second half, but the host managed to hold on for an impressive three points. "But we let too many chances go", said Dortmund coach Thomas Tuchel, whose side faces Monaco in the Champions League next week.
Aubameyang then broke free, rounded Hamburg goalkeeper Rene Adler to net Dortmund's third in the 93rd minute.
Dortmund then wrapped up the victory with two goals in the last 10 minutes.
Dortmund stayed fourth in the Champions League playoff place, a point behind Hoffenheim, while Hamburg - which was struggling with injuries - remained just a point above the relegation zone.
The victory for Hoffenheim comes at a time when the club is riding a seven-game unbeaten streak. The first half was unnecessary.
Ancelotti's men came into the second half better than the first half, but could not score an equaliser.