Composed by Joe Raposo, Jon Stone, and Bruce Hart, "Can You Tell Me How to Get to Sesame Street?" is one of the most delightful theme songs in television history, its joyful sound heralding a trip down to visit Big Bird and friends on Sesame Street, where kids are taught everything from basic numbers and letters to the more personal stuff, like how to share and be a good friend. 'Sesame Street' has been airing on PBS since 1969, when Jim Henson's educational creations made their debut.