Showrunner Megan Dong drew inspiration for the show's story from her own experience joining choir in high school.

Dong's interest in biology motivated her to create a wide variety of different animal species represented as centaurs throughout the series.

The series was first announced in September 2019.

Segments set in the titular Centaurworld dimension were primarily animated by the Canadian studio Mercury Filmworks, while scenes set in the human world were animated by the Korean studio Red Dog Culture House.

According to Megan Dong, the character Comfortable Doug was inspired after a friend mentioned enjoying the 'comfortable visual style' of the animated show Doug.

Many voice actors play multiple roles in the series; for example, Kimiko Glenn voices Horse as well as Madame Jelly, the leaftaur baby, and Horsatia, whom Horse impersonates during a trip to the Horsetaur Kingdom.

The songs for the series were written by creator Megan Dong along with Dominic Bisignano, who also voices a young human character and sings as Sunfish Merguy on the soundtrack album.

The musical duo First Aid Kit voices the Tree Shamans, a pair of wish-granting tree-like centaurs in the show.

The first season holds a 100% approval rating on Rotten Tomatoes based on 8 reviews, with an average rating of 9/10.