On television, Coco starred on two unsuccessful 1970s series, Calucci's Department and The Dumplings, and made guest appearances on many series, including ABC Stage 67, The Edge of Night, Marcus Welby, M.D., Trapper John, M.D., Medical Center, Maude, Fantasy Island, Alice, The Eddie Capra Mysteries, Murder, She Wrote, The Muppet Show, The Love Boat and St. Elsewhere, for which he won an Emmy Award. One of his last television assignments was a recurring role as Nick Milano on the sitcom Who's the Boss?.