Zoe ( Sesame Street ) - Wikipedia Zoe ( Sesame Street ) This article includes a list of references, related reading or external links, but its sources remain unclear because it lacks inline citations. Please help to improve this article by introducing more precise citations. ( January 2013 ) Zoe Monster Sesame Street character First appearance November 24, 1993 Created by Ed Christie ( designer ) Rollie Krewson ( builder ) Voiced by Fran Brill ( 1993 - 2015 ) Jennifer Barnhart ( 2016 -- present ) Birthday September 30 Information Species Sesame Street Muppet Monster Gender Female Nationality American Fur color Orange Zoe is a 3 - year - old orange female monster on Sesame Street, originally performed by Fran Brill. She was designed in her color to complement Elmo, who was gaining popularity at her introduction in 1993. Before Season 33, Zoe wore only her barrettes, bracelets, and necklace. She has regularly been dressed in a tutu since season 33, as like many girls of her age, Zoe is obsessed with ballet. Her love of dance in general resulted in the video Zoe 's Dance Moves. In Season 49, she returns to being unclothed again. She often rides a soapbox - style car around Sesame Street, called the Zoemobile. She has a pet rock, Rocco, much to Elmo 's constant dismay. Though it is likely she has many relatives, only the voice of her Aunt Chloe has been heard on the show. Recently, her aunt Gizelle, who lives in Swan Lake, sent her the tutu she wears. This is a reference to the character of Giselle in the ballet Giselle. Her film debut was The Adventures of Elmo in Grouchland. Her first video appearance was The Best of Elmo ; she then appeared in the videos Do The Alphabet and Big Bird Sings !. Starting with Season 46, Jennifer Barnhart took over the role of Zoe, following Fran Brill 's retirement in 2014. External links Zoe on Muppet Wiki, an external wiki Sesame Street characters Muppets of Sesame Street Abby Cadabby Barkley The Bear family Bert and Ernie Bert Ernie Big Bird Cookie Monster Count von Count Don Music Elmo Granny Bird Grover Grouches Grundgetta Guy Smiley Herry Monster Honkers Hoots the Owl Irvine Julia Kermit the Frog Mr. Johnson Mrs. Grouch Murray Monster Natasha Oscar the Grouch Prairie Dawn Roosevelt Franklin Rosita Roxie Marie Sherlock Hemlock Slimey the Worm Mr. Snuffleupagus Telly Monster Two - Headed Monster Yip Yips Zoe Human characters Alan Bob Johnson Chris Robinson Gordon Robinson David Gabi Rodriguez Gina Jefferson Hiroshi Linda Luis Rodriguez Maria Rodriguez Miles Robinson Mr. Hooper Mr. Noodle Natalie Olivia Robinson The Number Painter Susan Robinson Trash Gordon Animated characters Teeny Little Super Guy International co-production characters Abelardo the Dragon Basil Chaos Don Pimpón Espinete Kami Kippi Ben Kippod Moishe Oofnik Pong Pagong This puppet - related article is a stub. You can help Wikipedia by expanding it. This article about a fictional television character is a stub. You can help Wikipedia by expanding it. Retrieved from `` https://en.wikipedia.org/w/index.php?title=Zoe_(Sesame_Street)&oldid=836620703 '' Categories : Sesame Street Muppet characters Fictional characters introduced in 1993 Child characters in television Child characters in film Fictional monsters Puppet stubs Television character stubs Hidden categories : Articles lacking in - text citations from January 2013 All articles lacking in - text citations All stub articles Talk About Wikipedia Nederlands Simple English Edit links This page was last edited on 15 April 2018, at 21 : 55. Text is available under the Creative Commons Attribution - ShareAlike License ; additional terms may apply. By using this site, you agree to the Terms of Use and Privacy Policy. Wikipedia ® is a registered trademark of the Wikimedia Foundation, Inc., a non-profit organization. About Wikipedia

Question: when did zoe first appear on sesame street
Answer: 1993