Grande channeled the Hercules character Meg for her performance. The singer wore purple and played with a white flower as she delivered her rendition of the song.
"thank u for having me @disney @abcnetwork #DisneyFamilySingalong," she tweeted Thursday.
"Can't wait to cook up more magic with @TheRealLukevans -- and hopefully do within 6 feet of each other," Gad tweeted after the show.
Gad also voices Olaf in the Frozen movies, and is reprising the role for At Home with Olaf, a new weekly digital animated series.