Bob McGrath, best known for his role on the children’s educational television show “Sesame Street,” diėd on Sunday. He was 90.

The Sesame Workshop mourned the dėath of one of its founding cast members, saying McGrath “embodied the melodies of Sesame Street like no one else” in a Facebook post.

“His performances brought joy and wonder to generations of children around the world, whether teaching them the ABCs, the people in their neighborhood, or the simple joy of feeling music in their hearts,”  the statement said.

McGrath’s rich tenor has filled airwaves and concert halls from Las Vegas to Saskatchewan to Tokyo numerous times.

“We will be forever grateful for his many years of passionate creative contributions to Sesame Street and honored that he shared so much of his life with us,” said the producers of Sesame Street.

Variety reported, citing McGrath’s family members, that the actor diėd peacefully at home, surrounded by his family.