The comedy series stars Robinson as a journeyman musician who gets a job as a music teacher at a middle school, reported Deadline.
Crichlow, 29, will play Victoria Wavers, a successful former Wall Street trader who left the Street to pursue her true calling as a high school English teacher.
Grammer, 31, plays Ashleigh Willows, a Math teacher at the school who moonlights as an exotic dancer to help pay off her mortgage.