Storytime, on PBS
IMDb;; Wikipedia

Of course I was too old for the show, but I still liked it. It had 3 hosts. Two were real live humans, Mara and Lucy. There was also a puppet kid named Kino, voiced by Mark Ritts, who was also Lester in Beakman's World. Anyway, in each episode various stars would come on to read stories to Kino and some real live human kids. It was pretty cool. I miss it. And I dunno what else to say, I'm afraid. Although I do wish I could see Marabina Jaimes (who played Mara) in some other stuff....

kid stuff
PBS Kids