The Magical Escapades of Jonah and Jesse

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Jonah and Jesse, characters from a children's book, find a pen left in their book and use it to write themselves out of the story and into the real world. They become small, titanium beings with wooden shoes, visible only to children. They attempt to bring their parents, Steve and Amanda, out of the book as well, but accidentally turn them into walking washing machines. The noise wakes up the child who discovered Jonah and Jesse, but by the time the child brings his mom, an accidental pen stroke sends Jonah, Jesse, and their parents back into the book.