The Muppets sang it a lot, perhaps most notably on the Muppet Show episode they did as a tribute to Jim Henson's death. And then later did it on a TV special tribute to Henson.
But it's this performance -- yet another tribute for Jim Henson -- which may be the most emotional. It came during the memorial service held for him, done by the Muppet performers. If there's a dry eye left at the end of this, have it checked by an expert. Yet it's hard not to feel good spirit at the end, as well.
(Just know that although it says three minutes, it only last about 2:15 seconds, and then just runs with a freeze frame the rest of the way.)