Well actually it's actor Robert Guillaume who played Benson on Soap, and then his own show Benson. He was also good in the movie Lean On Me. So Rest in Peace. Mr. Guillaume.
http://variety.com/2017/tv/news/robert-guillaume-dead-dies-benson-1202598171/
http://variety.com/2017/tv/news/robert-guillaume-dead-dies-benson-1202598171/