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Gwen Stefani on Sesame Street: Blake Shelton’s a Diva Compared to Elmo

Gwen Stefani just scored herself some major cool mommy points! In between her coaching duties on The Voice, No Doubt’s leading lady filmed a cameo for an upcoming episode of Sesame Street‘s 47th season, and invited Us Weekly along to hang during her off-time with her new “BFF,” everyone’s favorite red guy, Elmo.

Related: PHOTOS: Stars who've visited Sesame Street!

“I wouldn’t say I was nervous; it was more like an out-of-body experience,” Stefani, 45, told Us after taping her appearance with the gang at 123 Sesame Street. “Never in my life could I imagine I’d be standing here with Elmo!” (And for the record, Stefani tells Us Elmo’s much easier to work with than her Voice costar Blake Shelton!)

Gwen Stefani and Elmo

Prior to meeting The Muppets, Stefani received a pep talk from two of her sons, Kingston, 8, and Zuma, 6, whom she shares with rocker husband Gavin Rossdale. “When I left today, they were like, ‘Break a leg,'” Stefani, also mom to Apollo, 15 months, said.

Related: PHOTOS: Celebs and their look-alike kids

Elmo may just be the deciding factor when it comes to Kingston and Zuma watching mom’s latest gig. “They’re over [The Voice],” Stefani told Us in January. “They’re busy and have their own lives. They’re not really all about me. It’s all about them!”

Related: PHOTOS: Gwen's adorable style

What’s on the agenda for the Stefani boys’ summer vacation? Mom’s not sure yet, but it’ll definitely be high octane. “They run around being hyper, trying to get their energy out all the time!” said Stefani. “[Raising three boys] is a lot to balance out and impossible to do — but I try!”

The Voice crowns its season 6 champ Tuesday, May 19 on NBC.

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