Stephens participated in Goodspeed's live stage production of Emmet Otter's Jug-Band Christmas, where he performed Yancy Woodchuck as well as other rabbits and squirrels, and understudied live actor Alan Campbell as Russ and Pa Otter in the 2008/2009 season. For the 2009/2010 show, Stephens continued to perform Yancy, as well as Fred Lizard and Pa Otter, and was promoted to Puppet Captain.
Stephens founded a puppet company, All Hands Productions, in 2002. His production "Billy Goats Gruff and Other Stuff" received a Citation of Excellence from the international puppetry organization Union Internationale de la Marionetta in 2005.
- Sesame Street Season 39: Stephen in Episode 4170, Cow in Episode 4176
- Abby in Wonderland
- Being Green
- Families Stand Together: Mr. Jerry (puppetry only)