Sutton Foster and Michael Urie Reunite in the Zany ‘Once Upon a Mattress’

Princess Winnifred and Prince Dauntless are goofy and playful characters. In most musicals, they would provide comic relief from the main story line. But in “Once Upon a Mattress,” it’s the funny people who rule, both literally and figuratively.

All the more so since Winnifred and Dauntless are played by Sutton Foster and Michael Urie in symbiotic performances that are highly controlled and precise while maintaining the appearance of off-the-cuff abandon.

And with the rest of the cast mostly following suit, it is refreshing to see actors so actively dedicating themselves to entertaining their audience. This kind of unabashed reveling in the joys of strutting your stuff appears to be in demand, too, judging by the recent success of “Oh, Mary!” and “Cats: The Jellicle Ball.”

The family-friendly “Once Upon a Mattress,” which premiered in 1959, is a good fit for the Encores! series — which stages shows that are rarely revived and presented this one in January. Now the production has transferred, with some changes in the supporting cast, to the Hudson Theater on Broadway.

Like many Encores! entries, Mary Rodgers and Marshall Barer’s variation on the Hans Christian Andersen tale “The Princess and the Pea” would probably struggle to crack anybody but a tween’s Top 10 list of the best musicals ever.

Also like many of those entries, “Once Upon a Mattress” turns out to be surprisingly sturdy in the right hands. Rodgers’s music is zingy and Barer’s lyrics often deploy sneakily enjoyable wordplay (“I lack a lass; alas! Alack!”). Just as important, the book by Barer, Jay Thompson and Dean Fuller is engineered to let gifted comic actors run loose — it is no coincidence that Carol Burnett originated the role of Winnifred.