A rep for Cosby tells The Blast, "I want to thank her for her wonderful voice singing the theme song of 'A Different World,'" adding, "She made a big, strong positive impact on that series."
Franklin not only sang the theme song for many seasons of the popular "Cosby Show" spinoff but her ex-husband, Glynn Turman, was a regular character on the sitcom.
As for how Cosby is remembering Franklin from his home in Philadelphia, he is currently "playing a cut from her CD – the title of the song is 'Wholy Holy' – and she’s live in a church."
Cosby gives his final send off to Franklin, "Bon Voyage."
Aretha passed away at the age of 76 after battling pancreatic cancer.