First thing that popped into my mind: Galavant. It’s a prime time network fantasy comedy from a writer of Cars and Tangled, teamed up with the composer from Beauty and the Beast and The Little Mermaid.
It’s like if The Princess Bride was two seasons of musical television with songs from the golden 90’s era of Disney. In a just world, it’d have six seasons and a movie.
Criminally overlooked and underrated.