The only words to this song are something that sounds like “Momnominaut, do, do, da, do, do.”
PS:Animal once “sang” this song on “The Muppet Show”
The song is Ma-na-ma-na, by Piero Umiliani.
Google search on: What songs did Animal sing on the Muppet show? got me a listing of all episodes and all the songs/sketches/guests, which gave me the title of the song. Another google search got me the writer’s name; a third (on his name) got me this web page.
Google is your friend.