Remember how you used to get home from first grade, run to the television and put it on PBS so you could watch a bit of “Sesame Street” with a snack of peanut butter and celery or some cookies and milk? And remember how you learned a little bit about life from the likes of Grover, Cookie Monster and Bert and Ernie?

Well, as adults, we have probably lost a little bit of that magic and humor from our lives, but the good people over at “Avenue Q” would like to give it back.

The Broadway sensation that mixed adult themes and Sesame Street-style characters is coming to The Peace Center for the Performing Arts starting Tuesday and the buzz is high for this Tony award-winning show.

Zonya Love is a performer and understudy on the traveling “Avenue Q” production and found the easiest way to describe the play is “Sesame Street all grown up.”

“It’s a typical boy meet girl, boy makes a mistake, boy tries to make up that mistake story,” Love said in a recent phone interview. “But it’s all done with puppets.”

Essentially, “Avenue Q” is raunchy, shocking, touching and hilarious all at once. Characters like Trekkie Monster area addicted to Internet porn while Rod and Nicky are roommates and one is gay. They are in their 20s and 30s, use profanity and deal in life lessons from an adult point of view.

The musical was conceived by Robert Lopez and Jeff Marx and has won multiple awards including the Tony for Best Musical. Now, the show has been travelling the country bringing the irreverent comedy to those who can’t get to New York City for a performance.

“It’s a lot of fun and has lots of laughter in it,” Love said. “And it has a purpose. The ongoing theme of the characters is them figuring out how they fit in and that is really relateable to the audience. It’s their connection to the show.”

Love admitted that some audiences have trouble getting into the show at first. They aren’t used to getting these messages from puppets and have to suspend their disbelief before coming into the theater. But when they do, she said, you can almost feel the tension of the audience leave and the room becomes lighter.

When that happens, Love believes the audience is reminiscing in their responses to the show. They remember what it was like watching something like Sesame Street and they put those memories into “Avenue Q.”

Love said she is still a huge Sesame Street fan, especially The County and Elmo. She always wished she could be on her favorite children’s show and considers this a perfect substitute for that. But audiences shouldn’t come in expecting those same characters. They need to come in with an open mind of something that is going to be “delightfully naughty.”

“Avenue Q” opens on Tuesday and runs through Sunday. Shows are at 7:30 p.m. Tuesday, Wednesday, Thursday and Sunday; 8 p.m. Friday and Saturday and 2 p.m. Sunday. Tickets are $45, $55 and $65 each and can be purchased through the Peace Center box office by calling 800.888.7768. For more information, go online to www.peacecenter.org.