Robert Dennis is a composer, whose work includes choral works and musical theater projects, notably Oh! Calcutta! (collaborating with Peter Schickele & Stanley Walden). Dennis wrote and performed music for Sesame Street on several occasions. The early 1970's Mad Painter series featured Dennis playing his own music on a tack piano. In February 1975, Dennis wrote the score (vocal, piano/keyboard, flute, bass clarinet) for a frequently aired 4.5 minute film called "Milk" (EKA: Episode 1037) and three scores (same instruments minus the vocal) for the inserts "Elk Feeding," "Sheep Feeding," and "Cow Feeding."