I was wondering if any Motown artists ever sang a theme songs for any tv shows?

I know that Donny Hathaway did the theme song for "Maude", Al Jarreau did the theme song for "Moonlighting", Aretha did the theme song for "A Different World" and Bobby McFerrin did the theme song for a season of "The Cosby Show." That got me wondering about Motown artists.