Galavant was perfect television. Loved it.
Not mentioned yet is Central Park on Apple. It’s by the Bob’s Burgers folks and most of its music is top notch.
I remember watching this series when I was in eighth grade. I think it was on Friday nights. I quite enjoyed it, even though musical comedies aren’t really my thing. I was amazed at how they managed to write all the material needed for an hour-long show every week. I also had an enormous teenage crush on EJ Peaker. 
Fun fact: Galavant songwriter Alan Menken was himself spoofed on Crazy Ex-Girlfriend:
Frankly, I really enjoyed watching The Monkees back in the day.
Steven Universe was great.
Well, better than the Partridge Family or The Hudson Brothers Razzle Dazzle Show ('74-'75).
I’d watch that just to see Shirley Jones and Susan Dey in hot pants! 
For something for the little ones, consider Wonder Pets!. It’s a delightful animated series about three pets who perform heroic actions, such as the titles say, “Save the dolphin!” or “Save the Unicorn!”, all set to mostly classical music, like Bugs Bunny singing “Save the Rabbit!” If you haven’t seen it, take a look and see it makes you smile.
Similarly, if shows that have one or more songs every episode count, then I’d nominate Phineas and Ferb. Wikipedia does list it as an “animated musical-comedy.”
I dunno, because they did have an explicit sung-through musical episode that was a remake of their first episode.
Zoey’s Extraordinary Playlist!
Into the Woods – if a televised stage performance is acceptable.
Definitely Galavant.
A stage performance that was done for television? Most certainly.