<Li> A.R.F. (fully known as Auto - Doggy Robotic Friend; voiced by Tom Kenny) is a robotic dog that Bob invented . He first appears in the episode "A.R.F.". Later in the series, he is updated by Bob in "Go, Dog, Go!". </Li> <Ul> <Li> Cupcake (voiced by Jill Talley) is a pink puppy who does not like Bingo and Rolly . She is the main antagonist of the series . </Li> <Li> Rufus is the bulldog with a black collar who is always with Cupcake and does not speak . He has been known to chase Bingo and Rolly multiple times . </Li> <Li> Baseball Announcer (voiced by Bob Uecker) is </Li> <Li> Captain Dog (voiced by Patrick Warburton) is the star of the pups' favorite television show . </Li> <Li> Frank Exposition (voiced by Leslie David Baker) is a man that is usually seen vacationing with his wife during Bingo and Rolly's missions . In "A Pyramid Scheme" he gets tangled in ribbons, which leads to Bingo and Rolly mistaking him for a mummy . </Li> <Li> Esther Exposition (voiced by Cheri Oteri) is Frank's wife . In "Hissy's Big Day", she is shown to have a pet iguana named Iggy . </Li> <Li> Daisy (voiced by Yvette Nicole Brown) is a kind German Shepherd . </Li> <Li> Bulworth (voiced by Huey Lewis) is the junkyard dog . </Li> <Li> Hedgie the Hedgehog (voiced by Jack McBrayer) </Li> <Li> The Go - Long Retriever is the toy stick and one of Bob's inventions that Bingo and Rolly tried to get rid of . Its only phrase is "Play fetch with me!" </Li> <Li> Johnathan (voiced by Jeff Bennett) is Bingo and Rolly's wisecracking seagull friend . </Li> <Li> Cagey (voiced by Jeff Bennett) is Bingo and Rolly's hamster friend who lives in a cage at the pet store . </Li> <Li> Crumpet (voiced by Jeff Bennett) is the royal dog . </Li> <Li> Whaley (voiced by Jessica DiCicco) is the whale that Bingo and Rolly helped . </Li> <Li> Nelly (voiced by Grey DeLisle) is a bluebird who Appears in "Polly Wants A Pug". </Li> <Li> Snowflake (Meows provided by Alanna Ubach) is a kitten who becomes friends with Hissy . </Li> <Li> Miss Mudge (voiced by Alanna Ubach) is Snowflake's owner . </Li> <Li> Guard Dog (voiced by Kevin Michael Richardson) is a Doberman who is friends with Bulworth . </Li> <Li> Chloe (voiced by Emma Shannon) is a little girl who is Bob's neighbor . </Li> <Li> Bob's Mom (voiced by Tress MacNeille) is a old lady who appears in "Special Delievry" and "Your Royal Pug - Ness". </Li> <Li> Bizzy the Beaver (voiced by Kevin Michael Richardson) is a beaver who lives in the forest . </Li> <Li> Strider the Sheepdog (vocied by Mo Collins) is a fast - talking sheep herder who appears in the episodes, "Counting Sheep" and "Rhapsody in Pug". </Li> <Li> Shockero (voiced by Kevin Micheal Richaradson) is a lavender Scotty Dog . </Li> <Li> Bark Knight (voiced by Gary Anthony Williams) is Captain Dog's sidekick . </Li> <Li> Titus (voiced by Jeff Bennett) is a leopard who now owns Hissy's squeaky toy . </Li> <Li> Harriet (voiced by Mo Collins) is a smart African Elephant . </Li> <Li> Barry (voiced by Jeff Bennett) is a giraffe who let Bingo, Rolly, and Hissy ride on his head . </Li> <Li> Quinty Mcsquinty (voiced by Jeff Bennett) is an old Basset Hound who told Bingo and Rolly the legend of Ol' Snapper . </Li> <Li> Ol' Snapper (voiced by Tom Kenny) is a turtle mistaken as a monster . </Li> <Li> Baby (barks provided by Jessica DiCocco) is a huge Great Dane puppy . </Li> <Li> Queen Kazoo is the star of Bob's Favorite play . </Li> <Li> Baboo is Queen Kazoo's dog . </Li> </Ul> <Li> Cupcake (voiced by Jill Talley) is a pink puppy who does not like Bingo and Rolly . She is the main antagonist of the series . </Li> <Li> Rufus is the bulldog with a black collar who is always with Cupcake and does not speak . He has been known to chase Bingo and Rolly multiple times . </Li>

Who does the voice of cupcake on puppy dog pals