Peabo Bryson, the beloved two-time Grammy winner known for his soulful ballads, has passed away at 75, leaving behind a rich musical legacy that touched millions.

Beloved singer-songwriter Peabo Bryson, 75, is under medical care after suffering from a stroke, his family announced Sunday.

He performed on "Beauty and the Beast" with Céline Dion and on “A Whole New World” with Regina Belle.

Grammy Award-winning R&B singer Peabo Bryson has died at 75