It was on Netflix but isn't there anymore, so it must have cycled off recently. Since Disney owns it, I would assume sooner or later it will get pulled over to Disney+. If you'd like to own it, VEI issued a barebones DVD of both seasons together. I would buy a Blu-ray if they ever come out...
There are a bunch of shows that should have run longer than they did. But my usual go-to answer for this is Galavant, although the wrap-up was terrific nonetheless. I did find the ending the characters got extremely satisfying. The tease of storyline for season 3 did enough to show us where...