Dapper Dan and Dressy Bessie dolls.
These were brother and sister rag dolls that taught you how to button, tie your shoes, and zip your clothes shut. Dressy Bessie came with a bow that was attatched to her head, but you tied it and untied it again.
It was great for teaching basic conceps and hand eye coordination.
Best of all it was marketed for Everybody, not just aimed at kids who had Autism or other disabilities.