Time Life will be releasing a "Best of the Ed Sullivan Show" DVD compilation on May 12.
According to the cover, it looks like it will feature Kermit's rendition of "Music Hath Charms." This 1967 appearance, was one of five not included on SOFA Entertainment's 2003 DVD Muppets Magic from the Ed Sullivan Show.
The clip was released once before, in 1992, on the now long out of print DVD and VHS of The Very Best of the Ed Sullivan Show Vol. 2. You can see a low quality version, (presumably from that VHS release) below.
You can pre-order it now from Amazon.