Answer
Yes, Tito Puente did appear in Sesame Street. He appeared in the episode "Elmo and the Magical Maracas" in 1987. In the episode, Elmo is trying to learn how to play the maracas, and Tito Puente comes to help him. Tito Puente shows Elmo how to play the maracas, and they both have a lot of fun.