The untitled pilot follows Irene, played by Hilty, a previous Tony Award winner, and her husband, whose son is a competitive athlete, struggling to adapt to suburban life and youth sports.
Winokur, a Tony-winner in reality, will play a soccer mother who serves as a foil to Hilty's Irene.
Winokur won the Tony Award in 2003 for her performance as Tracy Turnblad in Hairspray, which she reprised in the Hollywood Bowl production. She was also seen on Broadway in Grease. Her TV credits also include "Stacked," "Retired at 35," "Dancing With the Stars" and "Melissa and Joey."
Hilty's Main Stem credits include Wicked and 9 to 5. She starred on the NBC musical drama "Smash" and will be featured in the upcoming one-night-only concert of Bombshell that will take place June 8 at Broadway's Minskoff Theatre.