I agree - I remember this commercial with fondness! I was recently trying to see if I could locate the commercial on line and found this post. I have yet to find it on YouTube or anywhere else.
I can still hum the tune. The "band" was little hippie-dressed cartoon sesame seeds, and their stage was a hamburger bun. I grew up in York, PA - I could not recall if the commercial was for a specific brand. Interesting to see it was produced by the sesame seed council!