Audrey and Friends was a 2000s series that aired on Channel 5's Milkshake block in the early 2000s. No information about this show exists online and so far only one footage of the show has been found, along with an IMDB page for it.
There is a 2002 Christmas Milkshake continuity on YouTube. There is an ident showing what's airing on the block for that day, and Audrey and Friends is the last one there: https://youtu.be/3vIrnXRe0Ec
Audrey and Friends also has an IMDB page. According to IMDB, the cast is Nicola Stapleson as Audrey, Kate O' Sullivan as Constance and Simon Schatzberger as Audrey's Dad, as seen here: