Question about a childhood TV show song

So the other day and every now and then for the past 5 years, this certain song gets stuck in my head when I think about socks. I figured I’d ask this question here since there seems to be a mass of knowledge floating around.

The song involved socks going around, getting dirty and then getting washed. However, everytime the washer opened, a sock was missing. It had cartoon animation. It had a chorus of children singing the song. The lyrics I can remember go:

Six socks! blha blah lbal hjblah
Six socks! blah blha blhab lhaa

then they get washed

Five socks! blah blah blah ahlb
Five socks! blah bahl hlba bhal
I think it was from Sesame Street or maybe even Pinwheel. This is bothering me. I just want to know the proper lyrics and the show this strange song came from!