EDIT: The links are dead, so I removed them. Here are some screencaps of the "Kim Possible" McDonald's commercial, which aired in September 2003.
There's some ghosting present in five of the images. I can't do much about that.
I missed getting a McDonald's Guy reaction shot. He doesn't understand Rufus' squeaks. Kim says (not sure if it's exact) "He means one Happy Meal, please!"
Not pictured: Live-action clips of kids with the toys.