“It's been almost 20 years since we said goodbye,” Cranston tells PEOPLE of the single-camera family sitcom that ended in 2006

Muniz shares its 'always good to have mom and dad around!'

Rogen tells PEOPLE that the guest stars – ranging from Adam Scott to Zoë Kravitz — were "pretty cool to make fun of themselves and Hollywood" for the show

Cranston is godfather to the actor's 2-year-old son Ryden

"I have been waiting for this moment for 18 years," Muniz teased of the series, which will also see Jane Kaczmarek as Malcolm's mom