I do not know of many companies willing to look at ideas on 'paper'. They want working prototypes. I think it would sell, but am not sure what the manufacturing costs would be, so I don't know if it would be profitable. Do it yourself which requires a lot of money upfront and knowledge of the business of toys, and how to sell them. License your idea to an established toy company.
Most companies have their own product development department.
I license them. Even with a patent, an idea can be changed and ripped off. So understand what you're trying to accomplish. I would love to find a small manufacturer to work with. Finding a small manufacturer is the best first step.