Fisher-Price released a set of 5 Sesame Street PVC figures in 2003. They were sold individually on cards. A set of 3 containing Elmo, Cookie Monster, and Ernie was also sold as "Elmo & Pals", and a set of 6 (containing 2 Elmo figures and one each of the others) was sold as a "Birthday Figure Pack". The figures were about 2.5 inches tall, and were labeled for ages 18 months and older.

In 2008 they added at least one new figure to the line. The figures were still sold as 3 packs.