|Cookie Monster||Spring 2001||Cookie Monster (Frank Oz) tries to help Martha make various types of cookies including Cherry Chunk Cookie, but gets so out of control that Martha has to tie him up.|
|Elmo||May 9, 2001||Elmo appeared in the recurring "Petkeeping with Marc Morrone" segment and learned how to take care of his pet fish, Dorothy. This segment was re-aired on Martha|
|Super Grover||November 17, 2003|
|Elmo & Zoe||February 6, 2004|
|Elmo||date unknown||Elmo helped bake chocolate profiterole puffs. Elmo also sings the introduction to the show as "Martha's World" to celebrate the 10th Anniversary of the show.|
|Grover||date unknown||Grover (Eric Jacobson) makes Hugs and Kisses Cupcakes on a tic-tac toe board with Stewart for Valentine's Day.|
|Oscar the Grouch||date unknown||Oscar gets a lesson in composting. This segment was re-aired on Martha.|
|Rosita||date unknown||Rosita helps Martha make empanadas. Rosita also sings a bit of the song, "Fiesta."|
|Zoe||date unknown||Zoe helped Martha make a birthday cake made to look like a pink purse. She also assisted in crafting children's party take-home bags using Chinese food take-out containers.|
|Zoe||date unknown||Zoe learns how to make foam magnets.|
|Zoe||date unknown||Zoe also appeared in the recurring "Petkeeping with Marc Morrone" segment with Rocco and learned how to take care of her pet turtle.|
- In Miss Piggy's Rules, Miss Piggy suggests getting your boyfriend a subsciption to Martha Stewart Living when breaking up with them.
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