Should "sur" be accepted as a preposition in place of "en" here? I thought that "sur la strato" was equivalent to English's "in the street". See John C. Wells' dictionary. Also in vortaro.net, an example from Zamenhof: "oni promenas sur la strato".
To coordinate two adjectives with a comma is something that the English language does, but not every language. I think that the translation with "kaj" should be accepted since it is a more international and less "anglified" solution.
"La bela, oranĝkolora kato kaj la malbela, odoraĉa hundo". That would be the simplest way, far simpler, as I think you implied, than replacing the commas with "kaj": "La bela kaj oranĝkolora kato kaj la malbela kaj odoraĉa hundo".