Joshua Sasse Galavant Actor Timothy Omundson King Richard Actor Vinnie Jones Gareth Actor Mallory Jansen Madalena Actor Karen David Isabella Actor Luke Youngblood Sid Actor John Stamos Guest Star Ben Presley Guest Star Darren Evans Guest Star Stanley Townsend Guest Star Genevieve Allenbury Guest Star Michael Jibson Guest Star Dan Fogelman Executive Producer, Writer Alan Menken Executive Producer Glenn Slater Executive Producer Chris Koch Executive Producer, Director