From Muppet Wiki

In October 1958, the Wilkins Coffee company offered vinyl puppets of Wilkins and Wontkins, characters created by Jim Henson for Wilkins commercials. The puppets were sold through the mail for $1.00 and a coffee can label.

These were the first Muppet toys produced, eight years before Ideal Toys made the first Kermit the Frog and Rowlf the Dog toys in 1966.

A Wilkins Coffee tin with an offer for Wilkins and Wontkins promotional puppets