This isn't really my area of interest, but I'll share what I know.
- On JoJo's Circus
, the last name of JoJo and her family is "Tickle." On one of the episodes, though I don't remember which, there is a song called "Tickle Goodnight" in which JoJo tickles her "pet lion" Goliath prior to going to sleep. (NB: Goliath is referred to as that, even though he is fully sentient and can even talk to a limited degree.) The song was included on the show's first soundtrack album. "Little Goliath's all comfy in bed / Let's tickle his nose and the top of his head / We'll tickle his chin and tickle his cheeks / I could keep tickling and tickling for weeks...
The show is airing in repeats on Disney Junior.
On one of the episodes of PB&J Otter
, "Butter's First Check-Up" has various characters getting tickled as part of a game. I don't think I've ever seen this one, but I imagine it'll show up again now that the show is airing on Disney Junior.
This may also be of interest - http://tvtropes.org/pmwiki/pmwiki.php/Main/FriendlyTickleTorture