It might not be the same, but I always wanted to go to Lil Sambo's because their billboard said they served tiger butter on their pancakes. My parents and grandparents refused to take us there. By the time I was an adult, the place was closed so tiger butter will remain a mystery.
The one we went to was just "Sambo's", and the name was based on the founder's names not the book. It did adopt themes from the book, like the tiger butter, and had a mural of tigers chasing a dark skinned kid around a tree. You didn't miss much, it was like a Denny's with a touch of racism.