I'm under the impression it's called Speedee, Lovin' Sans, or as mentioned above, Akzidenz-Grotesk Bold. I found this information here: https://logos.fandom.com/wiki/McDonald%27s
I don't know where you're supposed to get them officially. I found them when using search engines but I don't know if they're supposed to be free or paid, so I'm not gonna link them here to be safe.