David Rudman has been a Sesame Street muppet performer since 1985 -- currently performing Cookie Monster, Baby Bear and The Two-Headed Monster. He has received four Emmy nominations as Outstanding Performer in a Children's Series for his work on Sesame Street. Rudman has also directed several web videos for Sesame Street such as "Cookie Monster Auditions for Saturday Night Live" and "Conversations with Bert." He has performed in numerous television shows and specials including Saturday Night Live, The Colbert Report, The Tonight Show with Jimmy Fallon, Jimmy Kimmel Live! and The Muppets, where he performed Scooter and Janice. His film credits include The Muppets Take Manhattan, Labyrinth, Teenage Mutant Ninja Turtles, A Muppet Christmas Carol, Elmo in Grouchland, The Muppets and Muppets Most Wanted. Following the departure of Steve Whitmire in 2017, he became Beaker's new voice performer.\n\nWho does the voice of baby bear on sesame street?
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The relevant sentence in the passage is: David Rudman has been a Sesame Street muppet performer since 1985 -- currently performing Cookie Monster, Baby Bear and The Two-Headed Monster.
So, the answer is David Rudman.
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