Sing! Sesame Street Remembers Joe Raposo and His Music is a television special broadcast on PBS in honor of Joe Raposo after he passed away. Hosted by Jon Stone, the special was completed in April 1990 and first aired on May 16. Jim Henson, who is interviewed in the special, had died earlier that same day.
The documentary also includes interviews from Walter Cronkite, Michael Krauss, Joan Lunden, Joel Siegel, Bob McGrath, Liz Smith, Dave Marash, Marc Brugnoni, Christopher Cerf, Jerry Nelson, Pat Collins Raposo, Nick Raposo, Joe Raposo Jr., Joan Ganz Cooney, Erich Segal, Jonathan Schwartz, Frank Oz, Morley Safer, John Velasco, Sheldon Harnick, several studio musicians (including Jim Mitchell, Danny Epstein, and Bob Cranshaw), and Phil Donahue.
- Raposo himself is featured in footage performing the songs "Sing" (which bookends the special) and "Somebody Come and Play" at a piano.
- "A Little Bit" — Raposo's original, followed by a live performance by Patti LaBelle and the Abyssinian Baptist Church Chancel Choir.
- Several of Raposo's animal songs — "Pretty Baby," "Swinging Gibbon," "Frog Struggle Song," "There's a Bird on Me," and "Bein' a Pig."
- "Piggy's Fantasy," from The Great Muppet Caper
- "Bein' Green" — a montage of performances by Kermit (1970), Ray Charles (1989), and Joe Raposo.
- "You Will Be My Music," sung by Frank Sinatra
- "Blue," from Raggedy Ann & Andy
- "Little Things"
- "African Alphabet"
- "What Do You Do With a Fruit?"
- "Winners," sung by Barbara Cook
- "How Do You Do?", sung by Lena Horne and Grover
- "Over, Under, Around and Through"
- "C is for Cookie"
- "Peanut Butter" — the original Sesame Street segment, followed by a sequence choreographed by Jacques d'Amboise of children dancing to the song.
- "Sing" — a montage featuring LaBelle, Cook, Geena Davis, Jeff Goldblum, Barbara Bush, Max Roach, Isaac Stern, Candice Bergen, Glenn Close, Kathie Lee Gifford, and others.
- Directed by: Jon Stone
- Produced by: Tony Geiss
- Written by: Tony Geiss and Jon Stone
- Music Continuity: Dick Lieb
- Executive Producer: Jon Stone
Jacques d'Amboise received an Emmy nomination for Outstanding Achievement in Choreography.