Peabo Bryson on The Muppets

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Is there an appearance by Peabo Bryson in any of Jim Henson's works involving the Muppets? Because I haven't caught one.

And also, appearances by these celebrities:
Perfume (Japanese pop group)
Craig T. Nelson (Poltergeist and Coach star)
Jack Nicholson (Heeeeere's Johnny!)
Stephanie Mills (another R&B singer)
Carlos Santana

 

[TimzUneeverse]

And also, is there any instance of Peabo Bryson with Kermit the Frog?