| 2024 | Shirley | Stanley Townsend | ★ 6.8 |
| 2024 | Ragtime Reunion Concert | Coalhouse Walker Jr. | ★ 0.0 |
| 2023 | Celebrating 50 Years of Broadway's Best | Self | ★ 2.0 |
| 2023 | Black Broadway: A Proud History, A Limitless Future | Self | ★ 0.0 |
| 2021 | 20 Years of Christmas With The Tabernacle Choir | Guest Host | ★ 0.0 |
| 2021 | tick, tick... BOOM! | "Sunday" Legend #8 | ★ 7.6 |
| 2021 | Show of Titles | "Man of La Mancha" Performer | ★ 0.0 |
| 2020 | In Concert at The Hollywood Bowl: Musicals and the Movies | Soloist | ★ 10.0 |
| 2020 | Give My Regards to Broadway | Self | ★ 0.0 |
| 2019 | Mapplethorpe | Father Stack | ★ 6.4 |
| 2018 | American Theatre Wing Centennial Concert | | ★ 0.0 |
| 2017 | Broadway: The Next Generation | Self | ★ 10.0 |
| 2011 | Jumping the Broom | Mr. Watson | ★ 5.9 |
| 2010 | Women on the Verge of a Nervous Breakdown | Ivan | ★ 0.0 |
| 2009 | Ring Christmas Bells | Self | ★ 0.0 |
| 2007 | The Raven | Ray | ★ 2.4 |
| 2006 | The Best of The Tony Awards: The Plays | King (segment "King Hedley II") | ★ 0.0 |
| 2006 | South Pacific: In Concert from Carnegie Hall | Emile de Becque | ★ 6.2 |
| 2005 | Das Traumdate | Dr. Emerson | ★ 6.0 |
| 2005 | Broadway's Lost Treasures III: The Best of The Tony Awards | Coalhouse Walker Jr. (segment "Ragtime") (archive footage) | ★ 7.2 |
| 2004 | Broadway's Lost Treasures II | Host (segment "The Leads") | ★ 8.0 |
| 2001 | Nenn mich einfach Nikolaus | Cameron | ★ 5.7 |
| 2001 | Ruby's Bucket of Blood | Earl Delacroix | ★ 6.1 |
| 1999 | Double Platinum - Doppel Platin! | Adam Harris | ★ 8.0 |
| 1998 | Der Prinz von Ägypten | Jethro (singing voice) (uncredited) | ★ 7.3 |
| 1993 | The Ernest Green Story | Thurgood Marshall | ★ 6.9 |
| 1992 | Defenders of Dynatron City | Monkey Kid (voice) | ★ 6.0 |
| 1990 | Raisins Sold Out: The California Raisins II | Red | ★ 7.0 |
| 1990 | Ghost Dad | Mr. Turner | ★ 5.1 |
| 1988 | Scooby-Doo! und der widerspenstige Werwolf | Bonejangles (voice) | ★ 7.4 |
