Bob McGrath has died at the age of 90. The actor, musician and children's book author was best known for his role as music teacher Bob Johnson on US "Sesame Street". The Sesame Workshop, the production company of the popular children's show, announced his death via Twitter.

"Sesame Workshop mourns the loss of Bob McGrath, who has been a beloved member of the Sesame Street family for over 50 years," the statement said.

Bob McGrath was a founding member of Sesame Street in 1969. He "embodied the tunes" of the groundbreaking TV show "like no other," according to another tweet. "His performances have brought joy and wonder to generations of children around the world," writes the Sesame Workshop.

Born on June 13, 1932 in the US state of Illinois, Bob McGrath sang as a child. He later studied music. In the early 1960s, McGrath successfully released Japanese language folk songs in Japan. In 1969 he was cast to play music teacher Bob Johnson on Sesame Street.

For almost 50 years, Bob McGrath was part of the successful children's show. In 2016, he was forced to retire as part of a show restructuring. Nevertheless, the actor continued to appear for online clips of "Sesame Street". In 2019 he was in a special for the 50th anniversary of "Sesame Street".

Bob McGrath has died at his ranch in New Jersey. He passed away peacefully and surrounded by his family, his relatives said on Facebook.