Eight-time Emmy Award-winner for his role as Mr. Hanford on Sesame Street from 1990 to 1998 who is also well known as an accomplished voice actor.
He was a coffeehouse poet in the 1960s before being hired to act on the short-lived television series Express Yourself.
He was a writer for ABC's Benson and landed a recurring role on NBC's The Cosby Show in addition to working as a gag writer on the show.
He resided with his wife Cheryl in both Pennsylvania and Connecticut. He passed away from lung cancer.
He was featured in the film The Preacher's Wife that starred Denzel Washington.