You can get off the interstate at KC and take US-69 south, which is mostly 4 lane divided highway all the way to the OK border. Cut west a bit and pick up Hwy 2 south to Vinita. Then you can take old Route 66 highway from Vinita to Catoosa (east outskirts of Tulsa. I-44 will get you through Tulsa. On the west side you can again pick up old 66 and follow it all the way to I-35 by OKC. These parts of old 66 are 2-lane but in decent condition.
If the time is right, stop for dinner at Clanton's Cafe in Vinita and have some calf fries! ;)