Question: What music composer worked with Ben Vaughn on an American sitcom that aired from 1996 to 2001 on NBC?

Context articles: Inside Schwartz
Health Inspectors
Ben Vaughn
Cosby
¡Viva! Los Straitjackets
High Priest (album)
Kandula Mallikarjuna Rao
3rd Rock from the Sun
The Velvet Touch of Los Straitjackets
Jeff Sudakin

Inside Schwartz is an American sitcom that aired on NBC from September until December 2001 starring Breckin Meyer as the title character.
 The show was produced by 20th Century Fox Television and NBC Studios and first aired on NBC on Thursday Night at 8:30 EST.
Health Inspectors is an American reality television series on the Food Network.
 The series debuted on October 26, 2012 and follows Ben Vaughn as he volunteers his time to various restaurateurs around the country, who need to renovate their restaurants.
Ben Vaughn is an American singer, songwriter, musician, record producer, composer for television and film, and syndicated radio show host.
Cosby is an American sitcom television series broadcast on CBS from September 16, 1996, until April 28, 2000.
 The program starred Bill Cosby and Phylicia Rashad, who had previously worked together in the 1984–1992 NBC sitcom "The Cosby Show".
 Madeline Kahn portrayed their neighbor, Pauline, until her death in 1999.
 The series is loosely based on the British sitcom "One Foot in the Grave" airing on BBC from 1990 until 2001.
¡Viva!
 Los Straitjackets is the second studio album by American instrumental rock band Los Straitjackets, released in June 1996 by Upstart Records.
 It was recorded in January 1996 in Los Angeles, California, produced by Ben Vaughn and engineered by Mark Linett.
High Priest is the third solo album to be released by the American pop-rock musician Alex Chilton released in 1987.
 It was his first full-length album since 1979's commercially disastrous "Like Flies on Sherbert".
 Chilton fronts a solid band of Memphis/New Orleans studio musicians.
 The cover of the 1957 instrumental "Raunchy", was co-written by Sid Manker, who had taught Chilton guitar in his childhood at his father's expense.
 To promote "High Priest", Chilton played more than 60 concerts between 13 September and 19 December, 1987, including numerous shows with Ben Vaughn as the support act.
Kandula Mallikharjuna Rao, better known as Mallik (1921–1996) was popular music composer and singer.
 He was born to K. Venkatachalam and Lakshmi Narasamma.
 He was born in Machilipatnam, Krishna District, Andhra Pradesh.
 He received initial training in music from late Krovi Satyanarayana.
 He worked as a music composer and singer at All India Radio, Madras for 30 years.
 He later transferred to All India Radio, Vijayawada.
 While working at Akashvani, he composed for many songs, dance dramas, Bhakthi Ranjani songs and folk songs.
 He was the first composer of many reputed Tallapaka Annamacharya Keerthanas.
 Examples of such include "Adigo Alladigo", "Thandhanana Aahi", and "Narayanathae Namo Namo".
 He also composed the famous Raja Rajeshwari Astakam, Hanuman Manjari.
 Dr.Vempati Chinna Satyam’s Kuchipudi Dance Drama "Chandalika" for which music was composed by Mallik became a hit all over the world for its superb musical score.
3rd Rock from the Sun (sometimes referred to as simply 3rd Rock) is an American sitcom that aired from 1996 to 2001 on NBC.
 The show is about four extraterrestrials who are on an expedition to Earth, which they consider to be a very insignificant planet.
 The extraterrestrials pose as a human family to observe the behavior of human beings.
The Velvet Touch of Los Straitjackets is the third studio album by American instrumental rock band Los Straitjackets, released in June 1999 by Cavalcade Records.
 It was recorded between September and December 1998, produced by Ben Vaughn and engineered by Mark Linett.
Jeff Sudakin is a music composer and producer, working mainly in television and film.
 His notable credits include the US TV series Robot and Monster, That '70s Show (three seasons, with Ben Vaughn) and 3rd Rock from the Sun (seasons 3 through 6, also with Ben Vaughn).
 He was nominated for a Daytime Emmy award in 2013 for Outstanding Original Song - Children's and Animation for "The Forgiveness Song", included in episode 29 of Robot and Monster.