Didn't catch all the lyrics but I'm sure it was Roddy Frame(ex Aztec Camera, also sings the theme tune) who was singing during the programme so there's a fair chance it's something by him.
Not sure if Prefab Sprout also sang a song about Steve McQueen.
The song is called " the great escape" by a band called " I am kloot ".
"Small World" is the title track by Roddy Frame of his last album in 1992 called " surf".
Steve Mcqueen was The name of Prefab Sprout's 1985 album ,but known as " two wheels good " for the American market