TV Teddy & The New World of Teddy Ruxpin (Videos, 1993/1998)
You can watch multiple videos, with corresponding audio from the toys they interacted with, here.
Tip: The video '[TV Teddy] The Berenstain Bears in Giant Bat Cave' is the only one without a built-in voiceover version, so click SHOW ALL on the right side of its page on the side to easily see the audio file you'll need. There's an easy sync test - he sings along with the theme song!