Cosby frequently appeared with the Muppets, particularly through Sesame Street, where he appeared in several inserts filmed during 1970. This led to a regular stint in the first season of The Electric Company, a follow-up series from Children's Television Workshop aimed at older children. Many of his segments on that series, such as twins (via split-screen) pairing off word sounds, were reminiscent of the Sesame Street skits. His other children's work included the animated series Fat Albert and recurring appearances on Captain Kangaroo in "Picture Pages" segments.
In 1975, he played a doctor opposite Sweetums in the Cher variety series. He served as host of the TV special Sesame Street: 20 and Still Counting in 1989; in one segment, in reference to his frequent billing in certain productions as "Dr. William H. Cosby, Jr., Ed.D.", Oscar the Grouch refers to him as "Ph.D. Face." The following spring, in 1990, several Muppets from The Jim Henson Hour appeared on the Cosby Show episode "Cliff's Nightmare." He hosted Big Bird and Loretta Long in an episode of the You Bet Your Life revival series, and featured in an installment of My Favorite Sesame Street Moments in 2004. In 1999, Elmo had a brief cameo on his show Cosby.
Sesame Street segments
|Episode 0131||Bill Cosby plays twins who recite the alphabet together.|
|Episode 0135||Bill Cosby counts to 20 with his "twin."|
|Episode 0136||Bill Cosby tells his young friends a story that involves "over" and "under". He mixes the words up, and the kids correct him.|
|Episode 0138||Bill Cosby demonstrates what a surprised face looks like.|
|Episode 0144||Bill Cosby demonstrates angry.|
|Episode 0154||Bill Cosby counts three kids, but a fourth keeps hiding behind him.|
|Episode 0158||Walt Frazier and Dick Barnett of the New York Knicks bounce a round basketball. Bill Cosby tries to bounce a square basketball.|
|Episode 0163||Bill Cosby demonstrates sad.|
|Episode 0168||Bill Cosby demonstrates silly.|
|Episode 0172||Bill Cosby demonstrates happy.|
|Episode 0176||Bill Cosby tries to count 4 kids.|
|Episode 0182||Bill Cosby teaches the concepts of "yesterday" and "today".|
|Episode 0340||Bill Cosby counts from 1 to 10.|
- In the fifth season Muppet Babies episode "Muppets Not Included," an impression of Cosby (by Frank Welker) is heard during the "Celebrity Circle" segment.