Henry Simmons of the television show "Man Up" speaks during the Disney ABC Television Group portion of the 2011 Summer Television Critics Association Press Tour held at The Beverly Hilton Hotel on August 7, 2011 in Beverly Hills

*It’s been a minute since we’ve seen Henry Simmons on TV.

Best known for his 2000-2005 role as Det. Baldwin Jones on ABC’s “NYPD Blue,” the actor returns to the network this fall in the comedy “Man Up!” about three husbands and fathers who still play video games on the sneak tip and aren’t quite sure if they can ever fill the traditional male roles perfected by their fathers and grandfathers.

Simmons is not one of the three trying to man up. Rather, he is Grant, the attractive, muscled, athletic boyfriend of one of the guy’s ex-wives. In other words, he’s a living, breathing example of everything the three men are not; yet has no idea that the guys see him that way.

(L-R)Executive Producers Ron West, Kelly Kulchak, Victor Fresco, Christopher Moynihan, actors Mather Zickel, Teri Polo, Dan Fogler, Amanda Detmer and Henry Simmons of "Man Up" during the Disney ABC Television Group portion of the 2011 Summer Television Critics Association Press Tour held at The Beverly Hilton Hotel on August 7, 2011 in Beverly Hills

“I don’t think he’s conscious of it at all,” Simmons told reporters at the Television Critics Association summer press tour in Beverly Hills on Sunday. “He’s the kind of guy that walks into a room and everyone loves him, and he’s used to it. He talks at people like he doesn’t really listen. He’s just grand.”

And luckily, for his fans, Grant’s manly activities are mostly done without a shirt.

In the bonus audio below, Simmons, who turned 41 in July, is asked if he has a special workout regimen he follows to fulfill the physical demands of the role.

Henry Simmons on if he has a special workout regimen for his role on ABC’s Man Up by CherieNic

“Man Up” premieres Friday, October 21 on ABC. Watch a trailer below.