The Emmy Award-winning preschool series follows the adventures of three singing classroom pets who use teamwork to save animals in distress.
The October 15 episode, which pays homage to Alice in Wonderland, will also have Steven Tyler voicing the Mad Hatter and Ziggy Marley voicing the Cheshire Cat.
Menzel won the Tony for Wicked, and her other stage credits include Rent, Chess, and The Wild Party. She is expected to return this season to the hit FOX series Glee as Shelby Corcoran.
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