Ariel Winter Sofia Voice Sara Ramirez Queen Miranda Voice Wayne Brady Clover Voice Tim Gunn Baileywick Voice Zach Callison Prince James Guest Voice Darcy Rose Byrnes Princess Amber Guest Voice Eric Stonestreet Minimus Guest Voice Grayson Hunter Goss ' Guest Voice Jess Harnell Sir Gilliam Guest Voice Barbara Dirickson Flora Guest Voice Keith Ferguson Announcer , Additional Voices Guest Voice Coco Grayson Princess Hildegard Guest Voice Colin Ford Axel Guest Voice Harley Graham Princess Clio Guest Voice Rose Abdoo Electra Guest Voice Sage Ryan Vaughan , Vance Guest Voice Jamie Mitchell Executive Producer