Ariel Winter Sofia Voice Sara Ramirez Queen Miranda Voice Wayne Brady Clover Voice Tim Gunn Baileywick Voice Josh Gad Olaf Guest Voice Megan Mullally Miss Nettle Guest Voice Eric Stonestreet Minimus Guest Voice Hugh Bonneville Narrator Guest Voice Coco Grayson Princess Hildegard Guest Voice Mick Wingert King Henrik Guest Voice Ivy Bishop Little Girl Guest Voice Lyons Mathias Little Brother Guest Voice Fritz Sperberg Owl , Polar Bear Guest Voice Jamie Mitchell Additional Voices Guest Voice, Executive Producer