Gather a group of writers and brainstorm ideas. Tell the group that there are no bad ideas in the brainstorming session, but not every idea will be used in the show. Have each writer pitch one or more ideas and have them act it out so that everyone can imagine it in the show. Have the group select the best ideas.
Assign one or two writers to develop a full script---one to two pages will be approximately a minute of air time. Encourage the writers to favor a longer script over a shorter one. Bring the script back to the writers' room, assign a writer to read each part and read through the entire episode while timing with a stopwatch. Solicit feedback from everyone in the room to figure out what parts of the script worked and which did not work. Order rewrites as needed.
Storyboard the episode, drawing a frame for each key action that happens over the course of the episode. Include notes underneath each drawing regarding dialogue or the action that is taking place. Post the storyboards up where everyone can see them.
Bring the voice actors in one at a time to record the dialogue tracks. Provide each actor with their own copy of the script that has their lines highlighted. Listen in on the session and provide notes on each take.
Take the audio tracks and use them as timing references for the animation. Animate the key frames (the frames that show the most change in animation) based on the timing of the dialogue. You should have 24 frames per second.
Activate the between frame option in the animation program to fill between the key frames. Check to make sure the animation is how you want it and save each segment as a movie file.
Open the animation segments in a video editing program and cut them together on the time line. Add the dialogue track as well as music and sound effects as required. Export as a finished movie file and transfer to the format (betamax, video disc or computer file) used by your network.