Best Male R&B Vocal Performance || |- | 1991 || "Here and Now" || Best Male R&B Vocal Performance || |- | rowspan="3" | 1992 || rowspan="2" | "Power of Love/Love Power" || Best Male R&B Vocal Performance || |- | Best R&B Song (with Marcus Miller and Teddy Vann) || |- | "Doctor's Orders" (with Aretha Franklin) || Best R&B Performance by a Duo or Group with Vocals || |- | 1993 || "The Best Things in Life Are Free" (with Janet Jackson) || Best R&B Performance by a Duo or Group with Vocals || |- | rowspan="3" | 1994 || "How Deep Is Your Love" || Best Male R&B Vocal Performance || |- | "Heaven Knows" || Best R&B Song (shared with Reed Vertelney) || |- | "Little Miracles (Happen Every Day)" || Best R&B Song (shared with Marcus Miller) || |- | rowspan="4" | 1995 || "Love the One You're With" || Best Male Pop Vocal Performance || |- | "Endless Love" (with Mariah Carey) || Best Pop Collaboration with Vocals || |- | "Always and Forever" || Best Male R&B Vocal Performance || |- | Songs || Best R&B Album || |- | rowspan="2" | 1997 || rowspan="2" | "Your Secret Love" || Best Male R&B Vocal Performance || |- | Best R&B Song (shared with Reed Vertelney) || |- | 1998 || "When You Call on Me / Baby That's When I Come Runnin'" || Best Male R&B Vocal Performance || |- | rowspan="2" | 1999 || "I Know" || Best Male R&B Vocal Performance || |- | I Know || Best Traditional R&B Performance || |- | 2003 || "Any Day Now" || Best Traditional R&B Performance || |- | rowspan="5" | 2004 || rowspan="3" | "Dance with My Father" || Song of the Year (shared with Richard Marx) || |- | Best Male R&B Vocal Performance || |- | Best R&B Song (shared with Richard Marx) || |- | "The Closer I Get to You" (with Beyoncé) || Best R&B Performance by a Duo or Group with Vocals || |- | Dance with My Father || Best R&B Album || |- | 2007 || "Got You Home" || Best Male R&B Vocal Performance || |} Soul Train Music Awards |- | rowspan="2" | 1987 || Give Me the Reason || Best R&B/Soul Album – Male || |- | "Give Me the Reason" ||