Yes he did. "Do the Bartman" was co-written, produced and voiced by Michael Jackson.
On a side note, Jackson also supplied his voice to the 1991 "Simpsons" episode "Stark Raving Dad," in which he played a man in an asylum who thought he was Michael Jackson. Fox is believed to be looking into whether it can re-air that episode -- but given the age of the segment, which long ago entered the show's syndication package, it's unclear whether that will happen.