What's the Name of That Book??? discussion

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Bartlett and the Ice Voyage
SOLVED: Children's/YA
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SOLVED. Middle Grade Fiction Book about Two Explorers during the 1500s. [s]
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These explorers traveled across the world and had multiple adventures. One of the plots from the book was that they were looking for an animal or helping a king from a far-off kingdom collect animals for his menagerie, and I remember that specific word being used to describe where he kept his animals. Another adventure, though I'm not sure if this was a separate book or in the same book, was that they were helping a princess who was in trouble and unable to leave her castle. One of the explorers tries to climb up a wall to reach her.
I also vividly remember some (very few) illustrations sprinkled throughout the book. The Jacques character was more burly with curly brown hair, and the other character was smaller and thinner with blond hair. I also remember that one was dressed in blue and the other in red.
The world-building done by the author was incredibly impactful and well done, as these explorers encountered many different environments and terrains. Unfortunately, that is all the information that I have for the book. I have been searching for years and have been unable to find it so any help would be greatly appreciated!