Roker has interacted with the Muppets during the Macy's Thanksgiving Day Parade, and has made several appearances on Sesame Street. His most prominent appearance was co-anchoring the weather with Kermit the Frog during the Hurricane episodes in 2001. In a 2007 episode, he presented "family" as the Word of the Day by showing a wallet full of family photos.
He has appeared with Muppet characters several times on The Today Show, most prominently with a Muppet version of himself in a special half-hour segment, "The Muppets Take Over Today." Roker also appeared in a PBS Kids promo about reading with Zoe.
- In a 2009 episode of Sesame Street, Squirmadega Car Race announcer Jeff Gordon comments on the lovely day the race is being held on. Oscar then remarks "Who are you, Al Roker?"