Well, From Star Wars To Jedi: The Making of a Saga (1985) doesn't exactly have appearances by Star Wars characters. It has a large amount of great behind-the-scenes footage. There are shots of C-3PO, Jabba the Hutt, Han Solo, Princess Leia, and many more getting make-up done, and I really liked this show, so that's why I'm including it here. People have pretty much bad-mouthed this show, claiming that it's just a rerun of all that is covered in the three original specials. It does have a lot from the three specials, but it's got all the good stuff: behind the scenes. After the book Star Wars Chronicles this is the best source for it. Most of it is Return of the Jedi stuff, though. The show also featured the original A New Hope Jabba the Hutt scene (or at least a small part of it). This program is actually still for sale on VHS. You might find it at your local videostore, and if not you can get it online for a few bucks right here.
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Classic Creatures © Lucasfilm Ltd. and PBS 1985