Yes I remember Penelope Pitstop and the hooded Claw. Penelope would be tied up several times every episode. ( may tht's why I like bondage

) I don't remember her being gagged often...she used to shout Heyulp Heyulp all the time.
Penny in inspector gadget was tied up and gagged quite often, Daphne in Scooby doo was tied and gagged occasionally, I'm sure April (or avril) from teenage ninja turtles was kidnapped a few times.
There was also a Tarzan cartoon in the 80s in which tarzan was sometimes tied up (in just a loin cloth) and for a sex equality there was a programme called jana of the jungle where a female orphan raised by animals and dressed in a lepoard skin one piece was tied up a couple of times.