Fisher-Price produced two lines of Sesame Street Pose-a-Pal plush, starting in 1999. The plush toys had bendable wires in their arms, legs and necks, so they could be posed in funny positions.

The line began in 1999 with Elmo, Ernie and Big Bird Pose-a-Pals; Zoe was added to the set in 2000.

In 2007, Fisher-Price produced a new set of Pose-a-Pal plush, with a different design. This set included Elmo and Cookie Monster.