The workshop was established in 2004, and took on the task of servicing the Muppets and Bear in the Big Blue House characters for Disney beginning in February 2006. The Muppets had previously been built and maintained by The Muppet Workshop, a division of The Jim Henson Company. Jim Henson's Creature Shop continues to maintain and build the Muppet characters for Sesame Workshop and the Jim Henson Company productions.
The company's founder and president is Paul Andrejco, and the design team includes several Muppet Workshop alumni; including Lauren Attinello, Paul Hartis, Jim Kroupa, Peter MacKennan, Danielle Obinger, and others. The workshop is located in Hoboken, New Jersey.
Puppet Heap Workshop has created puppets for such clients as Terry Fator, Diet Coke, The Daily Show, VeggieTales, Ben Folds, and The Walt Disney Company. Aside from Puppet Heap Workshop, the company also runs Puppet Heap Picture Company (a production house which shoots films and commercials) and Puppet Heap Playthings (a consumer product division which produces various toy puppets).