(technically, Knight Rider had words in it)
NYPD Blue.
What's Happenin?
Doogie Howser, MD.
Quantum Leap.
Street Hawk.
Barney Miller.
The Odd Couple.
New York Undercover.
Head of the Class.
The Cosby Show (any one of those themes).
Get Smart.
I Dream of Jeannie.
Bewitched.
question: does 24 even have a theme song? I mean, it just comes on. I'd consider that "beep... beep... beep" as a theme song, b/c I get so excited when I hear it... anyway, back to my list:
The A-Team (well, the ones without the voice-over intro)
The Munsters
Batman: The Animated Series
X-Men Animated (90s)