TMDb/Sesame Street TV Miley Cyrus sparkles on Sesame Street! Watch her and Elmo sing "Just Imagine" in a fun new episode about creativity, now on Netflix & PBS Kids. April 19, 2026 AceShowbiz - Miley Cyrus recently made a delightful return to the beloved children's program Sesame Street, appearing in a new episode released on Monday, March 9. Known for her dynamic music career, Cyrus joined the iconic cast, including Elmo and friends, to engage young audiences in fun and imaginative storytelling.