I don't remember it on Sesame Street (but I don't know a whole lot about Sesame Street, just the years I've watched it)
I do know it was on the Muppet Show, but I don't remember who sang it there. I know they were two Muppets with Human feet.
It's a Cole Porter song. I know that as well.
I know none of that helps you, but I thought I'd post it anyway! LOL!