Brian Henson, producer of the show, recalled the genesis of the show in a 2006 interview stating, "we began doing puppet improv workshops to hone our comedy skills and realized that we were having so much fun that audiences might enjoy watching too." In the fall of 2005 a show was performed in the sound stage of the Jim Henson Studios for friends and invited industry guests. The two shows were so successful that the group was invited to the 2006 U.S. Comedy Arts Festival, where it made its public debut. "Jim Henson's Puppet Improv" was performed at two shows featuring Henson, Bill Barretta, Julianne Buescher, Leslie Carrara-Rudolph, Drew Massey, Paul Rugg, Allan Trautman and Victor Yerrid. Willie Etra was the musical director and operated the keyboards.