Mr Frank, who was 83, when the film was shot, took Maggie, then 14, to Amsterdam, where he went to school, Theresienstadt, which he survived with his mother and two brothers, and Auschwitz, where his father was murdered.
An animated version of Judith Kerr’s classic The Tiger Who Came to Tea, made by Channel 4, Lupus Films and HarperCollins, won the international childen’s Emmy for animation.