Mr. dB said:
No. Zap Brannigan was voiced by Billy West, who is also the voice for Fry, Prof. Farnsworth, and Stimpy.
Brannigan was to have been voiced by Phil Hartman, but he was murdered before production of the series began, so West's voice for that character is a Hartman impersonation.
By the way, Comedy Central has secured the rights to the series beginning in 2008, and has ordered production of 13 new episodes.