Barnhart will reprise her roles of Mrs. T, Bad Idea Bear and other characters for the commercial Off-Broadway run now playing at New World Stages.

The actress — who recently appeared in the Goodspeed Opera House production of Jim Henson's Emmet Otter and Off-Broadway in Stuffed and Unstrung — will join the current cast that includes Sarah Stiles (as Kate Monster & Lucy), Seth Rettberg (Princeton & Rod), Ann Sanders (Christmas Eve), Cullen R. Titmas (Nicky & Trekkie Monster), Nicholas Kohn (Brian) and Danielle K. Thomas (Gary Coleman).

Barnhart's other credits include Angels In America, Twelfth Night, Into The Woods, Rumors and has appeared on "Law & Order: SVU," "Sesame Street," "Between the Lions" and "Lomax: the Hound of Music."

Avenue Q tells the tale of "a group of 20-something people and puppets fresh out of college who move to New York City with big dreams and tiny bank accounts," according to the producers.

The 2004 Tony Award winner for Best Musical, Best Score and Best Book features music and lyrics by Robert Lopez and Jeff Marx and a book by Jeff Whitty. Jason Moore directed the show and Ken Roberson choreographed. Puppets were conceived and designed by Rick Lyon. Stephen Oremus provides musical supervision.

The design team includes Anna Louizos (scenic), Mirena Rada (costume), Howell Binkley (lighting) and Acme Sound Partners (sound).

The musical debuted Off-Broadway at The Vineyard Theatre then transferred to Broadway at the John Golden Theatre. The New World Stages Off-Broadway began in October 2009.

New World Stages is located at 340 West 50th Street. For more information, visit avenueq.com.