Question: Who directed a 1973 American Western film that  adapted from a 1969 novel by Milton R. Bass, that starred an actor known as the voice of The Beast in the Disney animated film "Beauty and the Beast" ?
Sentence (from "Robby Benson"): He is known as the voice of The Beast in the Disney animated film "Beauty and the Beast" and its numerous sequels and spin-offs, and for directing several episodes of the popular sitcom "Friends".
Relevant evidence: Yes