It's one thing to see the ease and naturalness of Joel Grey in performance. By the time of this video, he'd been on stage for around 50 years. And he'd always had a ease of style. So, for Sutton Foster to match him in this, you get to watch two masters, coming from the opposite end of the spectrum.
In an interview I saw with Joel Grey, he's talking about being in Anything Goes and when he gets to the cast, he starts to refer to the star by name, but then pauses a moment, thinks, and says instead, "the force of nature that is Sutton Foster."