In 2015, Menken co-composed the score for the musical television series "Galavant" alongside Christopher Lennertz, reuninting him with "Tangled" screenwriter Dan Fogelman. Menken also co-wrote songs for the series alongside Glenn Slater. The series lasted two seasons, first airing on January 4, 2015, and last airing on January 31, 2016. In 2017, Menken and Slater returned to write songs for the animated series "Rapunzel's Tangled Adventure", which is set after the events of "Tangled". The series ended in 2020, after three seasons. On July 26, 2020, Menken and Slater won the Daytime Emmy Award for Original Song in a Children's, Young Adult or Animated Program for the song titled "Waiting in the Wings".