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Currently you are able to watch "Sesame Street: Sing It, Elmo!" streaming on Hoopla. It is also possible to buy "Sesame Street: Sing It, Elmo!" on Apple TV, Amazon Video, Vudu as download or rent it on Amazon Video, Vudu, Apple TV online.
DVD features two full length episodes: "Sesame Street: The Musical" (season 34) and "The Family Thing" (season 35). Also features Elmo and Abby's cover of "I Can Sing" -Muppet Wiki