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In 1990, Random house Home Video released a collection of videos called Sesame Songs Home Video. These were song-filled videos. The openign sequence had a still of Ernie, Bert and Cookie Monster behind the logo, with an instrumental version of Sing playing in the background, and a childs voice reading the title. Each of these videos originally came with a poster with song lyrics and illustrations from the segments included.
Four of these videos were released in 1990: Monster Hits!, Dance Along, Sing Yourself Silly and Rock & Roll. two more, Sing, Hoot & Howl with The Sesame Street Animals and Elmo's Sing-Along Guessing Game, were released in 1991, and two more, We All Sing Together and Sing-Along Earth Songs, were released in 1993.
When Sony Wonder got the video rights for sesame Street, they released Big Bird Sings with the 'Sesame Songs opening sequence, but it's re-releases of the other videos had the entire opening sequence (including the individual videos title) cut from the release.