Tatyana Ali remembers Will Smith’s generous gift in the final season of ‘Fresh Prince’ (exclusive)

• Tatyana Ali played Ashley Banks in The Fresh Prince of Bel-Air from 1990 to 1996
• The actress, now 45, remembers the special dynamic between her colleagues and what she took away from this experience.
• The mother of two is raising money and awareness with her quilt brand Baby Yams to combat the health crisis of black mothers

Tatyana Ali looks at her The Fresh Prince of Bel-Air Co-stars as family.

Speaking to PEOPLE about her brand Baby Yams — a limited-edition line of handmade, heirloom-quality baby blankets with 100% of proceeds donated to Black and Indigenous midwives and doulas — the 45-year-old actress says her fondest memories of her time on the sitcom set are of laughing with her costars.

“In our last season of the show, Will (Smith) had opened up his dressing room and knocked down a wall to turn two dressing rooms into one big, beautiful one,” recalls Ali, who played Ashley Banks on the NBC sitcom from 1990 to 1996.

“We all saw it when we came here at the beginning of the year. We thought it was so beautiful. He looks at all of it. As a gift to everyone in our last season, he introduced us to his designer and said, ‘He designed this room. Work with him and design your own dressing room.'”

“Furniture and everything was there and I have to tell you, I’m sitting in my living room and I’m sitting on this couch,” she reveals.

“And I’m looking at two chairs from this dressing room! I’ve since reupholstered the sofa, but it’s still my piece of furniture today.”

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“That’s somehow indicative of the memories. It wasn’t the things, but the feelings,” she adds.

“We just had so much fun. It was a great place to grow up. And I know, especially now, that’s not everyone’s story, certainly not every child actor’s story. But it was a really supportive environment for me and they are my family. I love them.”

The 90s were an exciting time for Ali. She not only enjoyed the success of The Fresh Prince of Bel-Airbut she also worked on her music career. The singer says that with the current ’90s renaissance, she “hopes the music” of that era makes a comeback.

“I miss the music of the ’90s. It was so happy. There was so much joy,” she says. “I was just listening to Arrested Development and that feel-good music – songs about love, songs about going out with friends and dancing. I wish music like that would come back a little harder.”

Today, Ali balances her professional activities with her passion for improving the health of Black mothers and families.

For Ali, bringing Baby Yams’ quilts to life is an exciting new chapter.

“It’s like a dream come true to see the quilts out in the world and not just in my head,” she tells PEOPLE about the designs she created.

“I have been an advocate for Black maternal health for nearly five years. I started this work when I had my youngest baby. Before that, I always showed support and worked with organizations that empower Black girls. When I had the experience of giving birth to my first son, I knew I wanted to help.”

Ali is also a partner of She’s Good (For Real), an online health space for black women.

“Part of this journey is where we get our information from. Because our health care system isn’t working quite right, we’re getting our health information in any way we can. We’re finding our communities – in the park, on social media or through others – to find the answers we need,” the actress says.

“Group Black decided to create a space that really responds to our needs. I found that very powerful. It’s also about giving back and providing resources to the groups that are already working on the ground. So for me, it was a no-brainer. It’s exactly where I live.”