The Medieval Townsfolk--the three main ones were AMs: a fat blue knight with orange hair, Fozzie-esque nose, and greenish eyelids; a lavendar AM woman with brown hair, a white scarf draped around her head, small pink nose, blue eyelids, and red/pink dress; and a green woman with blondish-brown hair, green eyelids, bluish dress, and orange nose.
Strong Bob--Bob with what looks like a short brown Beatles-style haircut, and tan short-sleeved shirt, brown vest and pants. He also wore a "fake muscle" shirt, complete with exposed chest.
The Two Singers--Gabi and Miles dressed in medieval peasant wear. (Puffy hats, sleeves, etc.)
The Young Bear--Baby Bear in a gray hat, red shirt with a blue one over it, and gray mitts.
The Young Bear's Baby Sister--Curly in a pink garment; my memory's a bit fuzzy on it.
As for the Muppet food you may as well make a new entry for "Muppet Food" since they are used a number of times on the show. They're basically food with eyes and mouths.