Fran Brill Zoe, Prairie Dawn Voice Leslie Carrara-Rudolph Abby Cadabby Voice Ryan Dillon Elmo Voice Eric Jacobson Bert, Grover Voice Joey Mazzarino Stinky, Murray Voice Carmen Osbahr Rosita Voice Martin P. Robinson Aloysius Snuffleupagus, Telly Monster, Slimey the Worm Voice David Rudman Baby Bear, Cookie Monster, Two-Headed Monster Voice Caroll Spinney Big Bird, Oscar the Grouch Voice Matt Vogel The Count Voice Tiffany Haddish Guest Star