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Sugarfoot aired on ABC TV from 1957 to 1961; it ran four seasons comprising 69 episodes.

Will Hutchins (b. 1930) portrayed Tom "Sugarfoot" Brewster, a frontier lawyer from the Oklahoma Territory. Although handy with a gun, it was only used as a last resort.

Sugarfoot carried a law book as well as his firearms and was an "aw shucks", easy-going type of character (my impression).

His nickname apparently came about due to a lack of cowboy skills. Sugarfoot is synonymous with the term tenderfoot. This term was usually given to an Easterner newly arrived in the wild west.

The words to the Sugarfoot theme song were written by famous lyricist Mack David.

Here are the lyrics to the show:

SUGARFOOT, SUGARFOOT, easy lopin', cattle ropin' SUGARFOOT,
Carefree as the tumbleweeds, ajoggin' along with a heart full of song
And a rifle and a volume of the law.

SUGARFOOT, SUGARFOOT, never underestimate a SUGARFOOT,
Once you got his dander up, ain't no one who's quicker on the draw.

You'll find him on the side of law and order,
From the Mexicali border, to the rolling hills of Arkansaw;

SUGARFOOT, SUGARFOOT, easy lopin', cattle ropin' SUGARFOOT,
Ridin' down to cattle town, a-joggin' a-long with a heart full of song
And a rifle and a volume of the law.

References:

Wikipedia
Lyrics On Demand

Buy Sugarfoot DVD when it becomes available.