AJ Michalka Recalls ‘Adorable’ Core Memories with Miley Cyrus from Their Disney Channel Days (Exclusive)

AJ Michalka and Miley Cyrus go way back.

The Aly & AJ musician and actress, 33, recently performed a cover of Cyrus’ “Wrecking Ball” during her run as Strawberry Shortcake on season 12 of The Masked Singer, and now she’s looking back on time spent with the Grammy winner during their time on Disney Channel.

Not only did Aly & AJ open for Cyrus on the Best of Both Worlds Tour in 2006, but Hannah Montana premiered the exact same night as the sister duo’s Disney Channel Original Movie Cow Belles the same year.

“Me, Aly and Miley had this whole moment on set where we were able to interview each other and talk about these new premieres, and we were all giddy and young and excited. That’s a core memory with her that’s just really adorable,” AJ tells PEOPLE after finishing third on The Masked Singer.

The sisters also spent time with Cyrus, 32, outside of work. “I remember one Halloween, she came over and carved pumpkins with us at our house, and we did a pumpkin carving contest with a bunch of friends,” she recalls.

“She’s a very down-to-earth, cool person through and through,” AJ adds of the “Flowers” singer. “Exactly what you think you’re going to get, you’re going to get, which is what I love about her.”

Sharing the stage with Cyrus in arenas across the United States was also a great experience for the Goldbergs star. “We had a great run with each other. I mean, we could have toured for months together. We really gelled on and off-stage. Our moms were friends. Our senses of humor were very similar,” she says. “And we got to sing a Kiss song with her, [“Rock and Roll All Nite,”] every night.”

The former child stars haven’t crossed paths in a while, but AJ hopes Cyrus gets a chance to see her performance of “Wrecking Ball.”

“I was going to reach out to Miley the night of the airing, and I didn’t, which is silly, but I haven’t seen her in so long,” she says. “But I want to just reach out and be like, “I had so much fun singing that song. It’s so good.”

Aside from AJ’s Masked Singer experience, she and Aly, 34, recently announced the title of their next album, Silver Deliverer, coming soon.