No idea about the typeface, but thanks so much for the flashback.
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The closest I can get you is Glaser Stencil.

The theme song is also a delightful flashback. Was featured on our music blog a few weeks ago.

Oh man, I remember watching this show growing up!

I remember watching this show growing up!

And did it ever grow up?

I suspect it was hand-drawn. It wouldn't have been difficult to do.