There's nothing more rewarding than to see your characters' story brought to life through quality animation. As a professional animator of both 3D and traditional 2D animation, I know this first hand.
My understanding is that you are looking for a more "limited" animation short, similar to Bob's Burgers (big fan of the show!).
Accomplishing this depends on your sensibilities, however there are many tools, such as Flash, Premier Pro, and/or After Effects and Photoshop which would be a great means of creating your story.
Ideally, we would need to discuss character designs, story points, layout, etc before really establishing the next step. So, I look forward to the possibility of working with you and I invite you do contact me with further details. Cheers!