H.B. Gilmour wrote a number of Muppet Babies and Fraggle Rock books including:

• Goodnight Wembley Fraggle (1985)
• The Giant Next Door (1985)
• If I Were Just Like Kermit (1986)
• Even Kermit Gets Grouchy (1987)

She also wrote the text for the book and audio set of The Muppets Take Manhattan.