I usually don't think Joel Stein's columns are funny, but I'm relieved someone shares my hatred for Elmo. I never liked him, even watching the show growing up.
I don't watch much kids' TV these days, so I can't comment on its general quality. To its credit, Sesame Street did do a good L&O spoof (Law and Order: Special Letters Unit). Admittedly this will fly over kids' heads, and it's questionable to introduce them to a sex-crimes show, but as an L&O fan I liked it enough to forgive them for introducing Abby Cadabby.