While book and audio sets featuring the Sesame Street characters began to be released early in the show's history, the Muppet Show characters only released a few book and audio sets, beginning in 1984. While not as prolific as those from Sesame Street, these sets were reissued into the 1990s on record and cassette. Some new titles also appeared in the 1990s.

Finally, after many years of inactivity, a new book and CD set was released in 2012, based on the film The Muppets. Another book and CD set followed in 2014 with the next Muppet film, Muppets Most Wanted.