The Madsens are the family Roger convinces Steve are his real family in "Stannie Get Your Gun".
As part of his revenge for Steve taking his cookie, Roger searches the FBI database looking for a child that fits Steve's profile, and sends him to a couple whose son Tommy was kidnapped when he was an infant. Roger insists that they are his real parents, and coaxes him into wearing a lil' sailor outfit. Steve greets the family enthusiastically, and they are overjoyed at the return of their "son." When Roger exposes his ploy, Steve, rather than showing any anger, congratulates him on organizing such a clever ruse, leaving the Madsens hurt and confused.
Mike Barker provides the voice of Mr. Madsen. Jill Talley provides the voice of Mrs. Madsen.