Is there a reason to cater to adults?

My daughter has started watching Sesame Street in the morning while my wife is taking a shower and getting ready for work.  As a result, we've been catching a few minutes here and there, and I've been shocked at the number of parodies and spoofs that the makers of Sesame Street use as a framework for their segments. 

Law and Order, Mad Men and Sex in the City are just three that I have seen, and she's only been watching the show for a few weeks. 

I don't get it. 

Do the producers...