From 1991 to 1996, he studied jazz singing at the Amsterdam Academy of Arts (Amsterdamse Hogeschool voor de Kunsten) at Hilversum. Since then, he has been a guest singer with the groups Jazzkantine and Soulounge with whom he took part in the Montreux Jazz Festival. In 2003, he founded the Roger Cicero Quartet, as well as continuing to perform with his eleven-piece big band. His style is predominantly that of 1940s and 1950s swing music, combined with German lyrics.
Cicero made his film debut in "Hilde" (2009) and received good reviews for his performance as musician Ricci Blum. Directed by Kai Wessel, the film is a biography of the German singer and actress Hildegard Knef, who is played by Heike Makatsch. He appeared as the singing and speaking voice of Prince Naveen in "Küss den Frosch", the German dubbed version of "The Princess and the Frog".
He passed away on 24 March 2016 of a stroke.