To support Broadway Barks, the animal adoption charity that she co-founded with Mary Tyler Moore, Peters has written three children's books, illustrated by Liz Murphy. The first is about a scrappy dog, named after her dog Kramer, and the pleasure of adopting a pet. Titled "Broadway Barks", the book is published by Blue Apple Books (2008). Peters wrote the words and music to a lullaby, titled "Kramer's Song", which is included on a CD in the book. The book reached #5 on "The New York Times" Children's Best Sellers: Picture Books list for the week of June 8, 2008.