“California Dreams” Cast Reunites for Live Concert at 90s Dreams Fan Fest: 'My Heart Is Full' (Exclusive)

“So happy to have seen my family after 30 years," Aaron Jackson, who played Mark Winkle on the NBC teen sitcom, tells PEOPLE of the reunion

California Dreams fans are on cloud nine after the original cast of the hit show rocked out together again for the first time in more than 25 years.

The ‘90s teen sitcom stars reunited on Friday night to perform live at Stitch Bar & Blues in New York City and engage with fans in a panel discussion, autograph sessions and photo opportunities as part of the 90s Dreams Fan Fest.

All nine cast members were in attendance: Michael Cade (Sylvester "Sly" Winkle), Brentley Gore (Matt Garrison), Jay Anthony Franke (Jake Sommers), Aaron Jackson (Mark Winkle), William James Jones (Tony Wicks), Jennie Kwan (Samantha "Sam" Woo), Kelly Packard (Tiffani Smith), Heidi Saban (Jenny Garrison) and Diana Uribe (Lorena Costa).

Related: California Dreams Reunion! The Band Is Back Together for First Full Gig '25 Years in the Making' (Exclusive)

“This was a magical day for us, and it seemed the fans felt as good about it as we did. My heart is full,” Franke, 51, tells PEOPLE of the event, which was conceived and produced by Packard and Kwan.

“It was an amazing evening. The fans rocked and the band was awesome!” adds Jackson, 50. “So happy to have seen my family after 30 years.”

The former teens of California Dreams harked back to the '90s with a live concert in which Packard and Franke and Winkle and Uribe shared spotlight dances. The stars also reminisced about their days on set with a reunion between love interests Jake and Tiffani and Cade’s memories as the band’s manager, Sly.

Loyal fans sang along to the show’s greatest hits and some even danced with Uribe. At one point, they went onstage to share what California Dreams means to them, including a fan of Gore's who had followed him since she was 13.

The night came to a close with a sing-along of the California Dreams theme song by the cast and their fans.

“There was so much magical energy at the show last night in New York City. Everyone could feel it,” Gore, 49, tells PEOPLE. “We had people travel from all over the world to be here, and the fans who couldn’t make it are definitely begging for a tour.”

Related: 'Saved by the Bell' Reunion! Cast Celebrates '30 Years of Friendship' During Group Dinner

He continues, “They just couldn’t get enough and neither could we! All these years later, we still feel relevant. Our fans are the absolute best. I guess it’s time to book more dates. The California Dreams band rocks️.”

California Dreams aired on NBC from 1992 to 1996 as part of the network’s Saturday morning lineup. The series followed a fictional band on the West Coast and the antics of its teenage members while they provided plenty of catchy original tunes along the way, including "Castles on Quicksand," "One World" and "If You Only Knew."

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Franke previously told PEOPLE that he "almost cried out of joyful nostalgia" when he reunited with the cast for Thursday’s rehearsal, calling the moment a “flood” of memories.

"It’s like nothing has changed," Kwan, 50, added. "We’re like a big crazy family — but with just a couple more wrinkles."

Of the first time seeing everyone again, Jones, 48, said, "It felt like a high school reunion, a love and connection that remains timeless."

Uribe, meanwhile, admitted she was a bit trepidatious about reuniting with her former costars.

“I was so nervous to reopen a past chapter of my life. The moment I saw everyone, there was an immediate reconnection like we wrapped a week ago," she said.

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