From Muppet Wiki

The Torkelsons was an NBC family sitcom which initially ran from September 9, 1991 to June 13, 1992. The series focused on a widowed mother creating a new life, and starred Connie Ray, Olivia Burnette (both alums of NBC's Quantum Leap), Lee Norris, and William Schallert.

In the December 22 episode "Educating Millicent," Elmo (performed by Kevin Clash) made a guest appearance. The character appears in a fantasy sequence in which little Mary-Sue Torkelson's Elmo doll comes to life in order to give advice and have fun.

In the spring of 1993, the series was retooled as Almost Home, with different child actors and minus Schallert.