In 1995, Hayes appeared as a Las Vegas minister impersonating himself in the comedy series The Fresh Prince of Bel-Air. He launched a comeback on the Virgin label in May 1995 with Branded, an album of new material that earned impressive sales figures as well as positive reviews from critics who proclaimed it a return to form. A companion album released around the same time, Raw and Refined, featured a collection of previously unreleased instrumentals, both old and new. Hayes worked on the theme for the 1996 theatrical release 'Beavis and Butt-Head Do America', producing a piece which was essentially a hybrid of 'The Theme From Shaft' and the theme from the original 'Beavis and Butt-Head' TV show.  Soon after, Hayes joined the founding cast of Comedy Central's animated TV series, South Park. Hayes provided the voice for the character of "Chef", the amorous elementary-school lunchroom cook, from the show's debut on August 13, 1997 (one week shy of his 55th birthday), through the end of its ninth season in 2006. The role of Chef drew on Hayes's talents both as an actor and as a singer, thanks to the character's penchant for making conversational points in the form of crudely suggestive soul songs. An album of songs from the series appeared in 1998 with the title Chef Aid: The South Park Album reflecting Chef's popularity with the show's fans, and the Chef song "Chocolate Salty Balls" became a number-one U.K. hit. However, when the South Park movie South Park: Bigger, Longer & Uncut was released the following year, Chef was the only major character who did not perform a showcase song in the film; his lone musical contribution was "Good Love," a track on the soundtrack album which originally appeared on Black Moses in 1971 and is not heard in the movie  In 2000, he appeared on the soundtrack of the French movie The Magnet on the song "Is It Really Home" written and composed by rapper Akhenaton (IAM) and composer Bruno Coulais. In 2002, Hayes was inducted into the Rock and Roll Hall of Fame. After he played a set at the Glastonbury Festival, the same year a documentary highlighting Isaac's career and his impact on many of the Memphis artists in the 1960s onwards was produced, "Only The Strong Survive". In 2004, Hayes appeared in a recurring minor role as the Jaffa Tolok on the television series Stargate SG-1. The following year, he appeared in the critically acclaimed independent film Hustle & Flow. He also had a brief recurring role in UPN/The CW's Girlfriends as Eugene Childs (father of Toni).

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