Oh that's a good one. I think I remember that one too, but having a character who can do that and be able to say things like that is a writer's dream.
Usually I find that the cencorship board allows swear words or taboo words to be spoken baised on context. Family brings a good point in the FCC song where the line goes "You'll have to do her with you ding-a-ling, because you can't say penis". This is saying, you can't have sex with someone while using your penis, you can't really imply that you're having sex at all (though FG has pushed that board farther that I don't know why they'd bring it up in the song).
It's all about context of the words. Jackass can be used if refering to a real donkey but not to someone's butt. Ren & Stimpy had one that was cut some time later where they had an ugly picture of some guys ugly butt, wearing stained underware, fading over Ren with donkey cires heard in the background.
A! and Histaria were able to get away with using hell and damn because they used those words with historical or literary content and background. For those of you who saw "Damn the Torpedos" is a great explination of why and when you can use swears in childrens cartoons. Other shows like Gargoylas, DBZ, or other serious action shows, it might be allowed because of the level of violence involved, and being able to say at least one swear word brings up the tension of the moment (and ratings). In a way it's like "damn the Torpedos", the character is so pissed off, you have to just let a swear out for that one scene.
Bleeped words are used even in sunday comics, and they just write them like "!@##@!". So alot of the cartoons that bleep thier words are not acaully saying anything they're just trying to show the character as an adult or quick to anger. "Cutey and the Best" had Dot spewing out bleeped words left and right when she couldn't get her lines right. That bit was hilarious when I saw it back in the day. Most of the time you hear bleeped words in kids shows is like in "Sailor's Mouth" when they're trying to 'teach' kids that swearing is bad. The difference with "Sailor's Mouth" over Dot's angery rantings was that you can acaully pick out the swear word Spongebob is saying (IMO it's the f-word).
Plus how can you guy forget the famous 'sex' in Lion King and the 'take off your cloths' lines in Aladdin. At a certain phrame in Lion King you can pause and it looks like it's reading the word 'sex' but it can also be confused for 'sfx' for 'sound effects'. The Aladdin one is when you get to the spot where the Tiger is attacking Aladdin and you can hear some wispering voices say 'take off...' but through internet rumors and other stuff people thought the next words were take off your cloths, because as the story goes a mother finds her little girl tacking off her cloths while watching the movie and when the mother asks why, the girl says, 'because the movie told me so'.