All of the Disney characters make cameos, except for Roger and Jessica sadly. But, Benny the Cab did stop in for two episodes. The first was entitled Max's New Car, which featured Goofy's son Max (also the valet for the House of Mouse) trying to show his father that he is responsible enough to drive a car of his own. Goofy is seen serving up some oil to Benny in the beginning, and later giving a lift to the Aristocats.
The other episode is Mickey vs Shelby. Ms. Turtle wants her baby in one of the acts, and leaves Mickey in charge of him. When they finally get Shelby on stage, he freezes. To which Bambi says "He looks like a deer in the headlights." Then we see Benny saying "Oops. Sorry!"