- September 13, 2005 — Elmo appears on the second episode to help Martha decorate school lunch bags.
- February 2, 2006 — Kermit the Frog talks about his visit to NASA and promotes the Ford Hybrid.
- July 10, 2006 — In a "best of" collection of clips, Oscar the Grouch gets a lesson in composting from Stewart. Originally aired on Martha Stewart Living.
- October 5, 2006 — Kermit the Frog sings "Bein' Green" to some Girl Scouts.
- October 24, 2006 — Cookie Monster (David Rudman) watches Stewart make Mini Pumpkin Whoopie Pies (which he has dubbed as "whoopie cookies"), and promotes the Old School DVD set. Cookie Monster placed a more focused stress on eating healthy, but assured the audience, "me not going to change name to Brussels Sprouts Monster." Cookie Monster also talked about episode 4130 and that Gina is adopting a new baby, Marco.
- December 19, 2006 — Miss Piggy joined Martha to bake Chocolate-Peppermint Cookies and promote The Muppets: A Green and Red Christmas.
- October 6, 2008 — Abby Cadabby, Elmo, Grover and Cookie Monster visit Martha for a tea party to celebrate the release of "Abby in Wonderland" on DVD. (video)
- May 25th, 2010 - Big Bird appears to promote him being added to the Beaches Family Resorts line of characters. He makes homemade post cards with Martha
- In a "best of" collection of clips, Elmo also appeared in the recurring "Petkeeping with Marc Morrone" segment and learned how to take care of his pet goldfish, Dorothy. Originally aired on Martha Stewart Living.
- While speaking at the 2008 Chicago engagement of Muppets, Music & Magic, David Rudman discussed Cookie Monster's appearance on the show, and stated he doubted they would be invited back, due to Stewart's displeasure of Cookie's behavior.
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