It's an episode of Rick and Morty where they travel to another dimension. There was an episode in season 1 where Rick had a remote that let them watch inter-dimensional television, and almost everything on TV was improvised vocally by one of the creators and then animated. This is season 2 and they pretty much did that again.
https://www.youtube.com/watch?v=Gj4-E5Hs3Kc
And here's some from the season 1 episode:
https://www.youtube.com/watch?v=Irc_dew1eYw
https://www.youtube.com/watch?v=39R9YLACjJY
https://www.youtube.com/watch?v=gTWyTBRidK0
https://www.youtube.com/watch?v=ad-vf2EsdRk