I agree with Lex that this was probably hand-drawn. The Curious George logo is a registered trademark of Houghton Mifflin Company publishers now. That would lead me to believe if there is a typeface, it is custom (based off the original illustration) and proprietary.
However, with the new movie coming out next year (and the number of books over the years) there might be something floating around out there that is similar / a knock-off.
Monotype Script has similarities, but definitely not the gothic caps you're looking for.
Same with Bernhard Brushscipt.
Captured from web.archive.org on 20 Nov 2014. view this capture