Here is the full list of all 31 The Adventure Pals achievements. It takes around 10-12 hours to unlock all of the achievements on Windows.
Get all achievements
start a co-op game
Give the whale the old mans underwear
complete a stage in less than 3 minutes
Fill up your sticker book
Finish the Game
Unlock all costumes
Defeat Hot Dog Boss
Kill an enemy that's been converted to a bunny
Defeat all the arenas
Defeat Crab mech
Fully Level Up
Defeat Veggiesaur
Find 50% of the stickers
Kill 20 yaks on world map
Defeat Breakfast Buccaneer
kill 100 enemies by jumping on their heads
Release 50 old people from hotdogs
You've used nine lives but don't give up
Beat an arena
Make it to second island
Defeat treefist
Use a Weapon Mod
giraffe-copter for 5 minutes in total
Collect 10 cupcakes
Use the Cupcake Converter
Complete your first objective
Level up your abilities for the first time
Vanquish 10 enemies
Collect first cupcake
Get your first pal