An uproarious update of Hans Christian Andersen’s “The Princess and the Pea,” Once Upon A Mattress sets an unapologetic free spirit loose in a repressed kingdom, reveling in Winnifred’s ability to charm and transform with willpower, honesty, and a little bit of help from her friends. Full of gloriously catchy melodies like “Shy” and “In a Little While,” the musical first premiered in 1959, with music by Mary Rodgers, lyrics by Marshall Barer, and book by Jay Thompson, Dean Fuller, and Marshall Barer.