D.B. Woodside. Actor: Lucifer. David Bryan Woodside (born July 25, 1969) is an American actor. He is best known for his television roles as the bass singer Melvin Franklin in The Temptations, Robin Wood in Buffy the Vampire Slayer, Malcolm Franks in Single Ladies, Dr. Joseph Prestridge in Parenthood, the angel Amenadiel in Lucifer, as well as Wayne Palmer in the thriller series 24.