Hi:
I think I can help, having been a New Yorker and been to SESAME PLACE three times now.
From New York to Pennsylvania (where SESAME is located) is at least 3-4 hours drive. You can easily do the drive there and back in one day. Heck, when I lived in Maryland, I drove to SESAME PLACE and back in one day and was back even in time for a late supper.
There is a hotel right across the street where I stayed. As a matter of fact, from my room window, you could see the top of the Rubber Ducky ride! I don't remember if it's a Mariott or a Hyatt - perhaps you can call SESAME PLACE and ask someone what the hotel across the street is? It was a nice upscale hotel, but reasonable rates.
Hope this helps! One word of advice: try to avoid popular holidays like Memorial or July 4th. SESAME gets VERY crowded.