I was about to read Captain America #168 (a one-shot by guest writer Roy Thomas) when I remembered that this issue was made available as a comic and record set when I was a kid. (They had it at the local mall, though I don't remember if I ever bought it.
Due to the miracle of the internet, the whole comic and record is available for free viewing on youtube. The voices aren't really what I imagine Cap and the Falcon to sound like, and some dialog was stripped out to simplify the story (all references to Bucky Barnes were removed). Still, it's a pretty faithful version of the comic.
I've linked to it below, to savor the weirdness.