B.D. Joe is one of the four original characters from the 1999 arcade game, Crazy Taxi, from SEGA. He is a funky and cheerful person that likes to entertain passengers with his own skills behind his cab. You might recognize him when he made an appearance in Sonic and Sega All-Stars Racing and Sonic and All-Stars Racing Transformed.
B.D. Joe was first voiced by Kent Frick. He voiced him in the Arcade and the Dreamcast version of Crazy Taxi.
When Crazy Taxi was ported to other consoles that are not by SEGA, and when Crazy Taxi 2 and 3 was released, he was voiced by Darrell Harris.
This is a tricky one for me because both of these guys did a decent job. I think I'll go with Harris since I know him more than Frick (mainly because Sonic and Sega All Stars Racing introduced me to this character).