During Sunday's (12/10/02) Futurama episode they made a reference to Friends.
The King & Queen of Omicron Persei 8 are watching an episode of Friends which has taken 1000 years to reach their planet.
King: This is ancient Earth's most foolish program. Why does Ross, the largest friend, not simply eat the other five? Queen: Perhaps they are saving that for sweeps.
They are then interrupted by a servant about a peace offering being delivered from Earth.
King: Oh, very well. This is a Joey heavy episode anyway.