Just because a character from one show appears in another that is owned by a different company does not necessarily mean that licensing is involved. Image clearly already has rights to Make Room For Daddy/Danny Thomas since they already included the one episode that features an appearance by...
I have a feeling the company in question is Image, and what they've done on the Dick Van Dyke Show has been outstanding, tying Battlestar Galactica for the best DVD release of a TV show.