​From Wikipedia, the free encyclopedia. David Rudman (born June 1st 1964) is a puppeteer, voice actor and producer, best known as a performer of many Sesame Street Muppet characters. He originated the role of Baby Bear, and has been nominated for two Emmy Awards for his work replacing Frank Oz in the role of Cookie Monster. However, Oz still comes in to record new material with Cookie Monster occasionally. Rudman also took over as Richard Hunt's half of "The Two Headed Monster" after his death...