McGrath’s family announced his deathon his Facebook pageSunday.

“Hello Facebook friends, the McGrath family has some sad news to share.

Our father Bob McGrath, passed away today.

Rosita, Abby Cadabby, Bob McGrath, Elmo, Zoe and Grover attend SESAME WORKSHOP’S 7th Annual Benefit Gala

Bob McGrath, one of the original human stars of ‘Sesame Street,’ has died at age 90.ZACH HYMAN/Patrick McMullan via Getty Images

He died peacefully at home, surrounded by his family .”

He went on to earn a Masters in Voice from the Manhattan School of Music in 1959.

McGrath then translated that success into a popular career as a recording artist in Japan.

‘Sesame Street’ hosts Matt Robinson (Gordon), Will Lee (Mr. Hooper) Loretta Long (Susan) and Bob McGrath (Bob) stand with Big Bird in a promotional still on the set of the educational public television series, circa 1969

Children’s Television Workshop/Courtesy of Getty Images

“He was the guy you saw on TV.

The nicest, sweetest, kindest man.

The first time my brother and I got to be onSesame Streetwe had this scene with him.

Rest in peace , Bob McGrath.

You were so loved all over the world.”