October 28, 2016 09:55 PM

Grab the tissues — Tracey Ullman is about to make you cry … tears of laughter!

Speaking with PEOPLE Now, the 56-year-old actress opened up about her recent run-in with Jerry Seinfeld, seeing David Letterman again, experiencing Rubert Grint‘s very own ice cream truck (yes, he has one of those), and impersonating Judi Dench in her new HBO series, Tracey Ullman’s Show.

“I heard [Jerry Seinfeld] was in the building and he popped by to say ‘Hello’ to me,” the comedy legend said. “And David Letterman is coming in later — I would love to see him again. I would love to soften his beard with a little oil. He needs a little beard softening. I’d love to see David now as a civilian.”

With a new show premiering, the British actress is excited to bring the heat to the American audience.

“Every seven years or so it seems I sort of assess society around me and try to impersonate everybody.”

Her latest impersonation? Judi Dench … shoplifting.

“We just thought, ‘I want to be Judi Dench.’ I love the way Judi talks,” the actress says. “The makeup they did for me was astonishing. I was filming in Richmond and people thought we were doing another Bond film and there I was as Judi Dench and just doing crazy things and slashing tires and stealing things because she can get away with it because she’s a national treasure.”

With a spot-on impersonation of Dench to look forward to, Ullman reveals that the first episode will also feature a very special guest star: Rupert Grint.

“He’s a lovely fellow,” she says. “He has his own ice cream truck. … I guess they said to him when he made his first big check, ‘What do you want Rupert?’ ‘I want an ice cream truck.’ He showed up with ice cream. The crew was very happy.”

Tracey Ullman’s Show premieres Friday, Oct. 28 at 11 p.m. EST on HBO.

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