The Bureau of Engraving and Printing issued its first souvenir card on March 13, 1954. The card was presented at the Postage Stamp Design Exhibition at the National Philatelic Museum in Philadelphia. The souvenir sheet featured an image of the 1938 Philatelic Truck and is considered a forerunner to the souvenir card series.

The truck was an idea of President Roosevelt and was meant to promote the hobby to people all across the country. While a special ramp was created for the President to view the interior of the truck, he chose to watch it from his own private car.
The U.S. Philatelic Truck began its tour of the United States on May 15, 1939, that ended soon after the country entered World War 2 on December 7, 1941. During this time the truck was in California, which would be its last stop of the tour. Fitted with exhibits, the truck offered visitors a free souvenir in the form of a non-postal souvenir sheet.
The sheet, pictured above, featured a printed blue design of the White House. Two versions of the sheet existed, one with gum and one without. The one without gum is considered to be more common and what more closely resembles the souvenir cards of 1954.
For more information about the history behind the Philatelic truck, as well as other contributions of President Roosevelt that helped promote philately, read this blog post by Mark Jochim.