Clifford David - Antipholus of Ephesus
Julienne Marie - Luciana
Despite what the LP cover says, it isn't the "original cast" it's the 1963 cast, which is pretty good. Especially as you get the seldom sung verse.
And here it is sung by the great Peggy Lee
I believe it's her singing with her husband, the guitarist Dave Barbour's trio though I spent all my time looking up who sang it above.
I'm not a huge fan of Richard Roger's songs but this is one of the rare ones I really like.