You're probably going to want a design firm, rather than a manufacturing firm, to get you to the point where you have a physical prototype, CAD files of manufacturable parts, and choices of materials and processes. Then they can guide you to a contract manufacturer.
You still might want to get the bids and see what you can afford - even $10k might get you pretty far if you're willing to do a lot of the work yourself, using the design firm as consultants to guide you through the process.
Some resources:
Design firms that work on toys:
http://www.dexigner.com/directory/cat/Toy_Design/Companies.h...
MIT product design course:
http://ocw.mit.edu/OcwWeb/Sloan-School-of-Management/15-783J...
Berkeley's course covering rapid prototyping and manufacturing, including lecture videos:
http://bmi.berkeley.edu/Me221/me221_resources.htm http://webcast.berkeley.edu/course_details.php?seriesid=1906...
The Berkeley videos totally opened my eyes - I was a computer science guy with no clue about making physical products.