Conversation so far:
What was the  penguin's name that Don Adams did the voice over for?
CANNOTANSWER.
What were the names of some of the characters that he provided the voice over for?
was the voice of Inspector Gadget in the initial run of that television series (1983-86.
What was the last voice over that he did?
Brain the Dog in the end credits for the film version of Inspector Gadget in 1999, his last voice role before his death six years later.

Question: Did he ever play himself in any cartoon?
Self-contained rewrite: Did Don Adams ever play himself in any cartoon?