My favorite racers for NES are Rad Racer and Rad Racer II, especially with the cheesy 3D glasses that came packed in. Believe it or not, but those glasses actually make a decent 3D effect with these games, and the racing is pretty excellent for NES.
R.C. Pro Am is good with an overhead pseudo-3D perspective, though a little difficult to control the cars at times.
Y, they are the cheap blue and red plastic ones, but I bought my copy of Rad Racer new in 1988 and it came with a pair in the box. Didn't you ever question the 3D option under the startup screen on this game and wonder what it was for?