Larry David
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The Steinbrenner character was played by actor Lee Bear. But the voice was none other than Seinfeld co-creator Larry David.
NY Yankees owner George Steinbrenner.
No
No. The closest resemblance to John O'Hurley's voice (whom we know in previous life played J Peterman in Seinfeld) would be Kowalski. However, per http://animatedtv.about.com/od/showsaz/tp/penguinsofmadagascarcast.htm the voice of Kowalski's voice is played by Chris Miller.
John Hurley of Seinfeld and Family Feud fame.