Muraoka's first experience as a performer came at the age of ten, where he appeared as "The Candy Man" at a movie theatre during the intermission of a double feature.

Muraoka then worked with East West Players in Los Angeles, and spent time as a performer on Princess Cruises.

Most notably, he was a member of the original cast of Shōgun: The Musical on Broadway and had a long run in the lead role of "The Engineer" in Miss Saigon.

[2] While appearing in Sesame Street, Muraoka has continued to perform in theater, most recently earning good reviews in the 2004 Broadway revival of Pacific Overtures.

As a director, Muraoka was highly praised for his work on the seemingly incongruous, non-traditional (all-Asian) version of William Finn and James Lapine's largely Jewish musical Falsettoland for the National Asian American Theater Company in New York in 1998.

[4] In 2006, he made a guest appearance on the soap opera One Life to Live, playing Mr. Pravat, a Thai bartender, in a bar scene along with Desiree Casado.

[5] He also directed The Muny's 2008 production of High School Musical in St. Louis winning praise for drawing "appealing performances from his attractive young leads.".