Let's first consider $I$ where the Lebesgue measure $\mu(I)<\infty$. We can use the following nice result (which can be derived from Holder's inequality):
If $I$ has finite (Lebesgue) measure, and we have $1<p\leq q\leq \infty$, $||f||_{L^p(I)}\leq\mu(I)^{1/p-1/q}||f||_{L^q(I)}$, so we have $L^q(I)\subset L^p(I)$. In particular, we have $L^{\infty}(I)\subset L^p(I)$ for $1\leq p<\infty$. Now note that $W^{1,p}(I)\subset L^p(I)$, so in particular, we have that $L^{\infty}(I)\subset W^{1,p}(I)$ for $1\leq p<\infty$.
The desired constant $C$ can just be set to $C=\mu(I)^{1/p}$ (since $q=\infty$ and $1/q=0$). This argument can be extended for Sobolev spaces with $k$ weak derivatives.
Now if $\mu(I)=\infty$, there is no containment among $L^p$ spaces.
For now, let's consider $I=(0,\infty)$, which certainly has infinite measure.
Consider $f(x)=1/\sqrt x$, $f\in L^1(I)$, but $f\notin L^2(I)$, likewise if we have $g(x)=x^{-1/3}$, $g\in L^1(I)$, but $g\notin L^3(I)$. In general, we can consider $x^{-1/p}$, which will be in $L^1(I)$ but not $L^p(I)$. Also, note that $x^{-1/p}$ is not bounded a.e. so $x^{-1/p}\notin L^{\infty}$, and so there cannot be such a constant $C$.