Have you ever watched old episodes of The Muppet Show? They really are incredible, still, even though we're now about 33 years past the debut of the show. The puppets and costumes appealed to me as a kid, yet on re-watching it, pretty much all of the humor is aimed at adults.
In reflection, I think this is pretty much how all cartoons and animated shows should work. Kids don't really have discerning palettes. When I was little, my mom tells me I liked orange juice and chicken mashed together. (As I grew up, I would use this against her a lot – Yes, I ate broccoli as a kid, but I also ate chicken and orange juice, so obviously, my tastes changed a little bit.) When you're a kid, you don't know from good, as the saying goes. You're just happy to be watching TV, so you can't tell the good from the bad so easily.
Therefore, I'm signing off on The Muppet Show being a good thing. In case you're completely unawares, the format was essentially that of a variety show with a rotating weekly host, backed up by the Muppets ensemble. The best episodes feature George Burns and Milton Berle, and both of them are primarily using zingers and one-liners in their act. For example, the running gag in the Burns episode is a throwaway joke made in the beginning of the episode by Gonzo. “I've got a great idea for an act: Gonzo fiddles while George Burns!”
The Muppet Show was also very musically-based, with the best episode in this vein being hosted by Paul Simon. He does three complete songs, I believe, and also appears in a couple skits. Even when a musician didn't host the show, a number or two by the Muppets was still on the show. I surprisingly think most of these are good, and I'm a person who typically cringes during singing parts on most shows.
Although the show ran during the 1970s, it is light on cultural references. The only dated references are normally the guests themselves. Rudolph Nureyev is apparently some sort of famous ballet dancer, and I only know this because most of his skits feature dancing, and because Brian Henson mentions this in his introduction to the episode. However, for every Nureyev, there is a great host that simply isn't around anymore or not in peak shape for whatever reason – John Cleese, Steve Martin, Dom Deluise, Peter Sellers, Don Knotts, Bob Hope, Johnny Cash and Roger Moore.
Of course, the stars of the show are the Muppets themselves, and they're in peak form on The Muppet Show as opposed to their watered-down versions on Sesame Street and the horrid Muppets Tonight, and although Muppet Babies was good, the cast isn't nearly as big.
I've never been a big fan of Kermit or Miss Piggy or Scooter, and unfortunately they are in a lot of skits. However, this is more than made up for by the expanded roles of the other characters: Fozzie Bear, Gonzo, Rowlf, the Swedish Chef and the two old men in the balcony, Statler and Waldorf. (When I become independently wealthy, one of the first things I'm doing is reviving their Siskel and Ebert-like show that used to run on the web.) The aforementioned Brian Henson also provides a little intro to each episode, and he gives out interesting information about how each puppet is run, or about that episode's guest, or just about The Muppet Show in general.