Stephen J. Lawrence, ‘Sesame Street’ Composer, Dies at 82 Lawrence composed over 300 songs and scores for the program, including "Fuzzy and Blue (and Orange)," co-written with David Axelrod.

Nelson teamed up with Muppets creator Jim Henson in the '60s and joined Sesame Street in the '70s, working throughout on many Muppets movies and serving as a co-producer on Fraggle Rock.