well no one is better.
Perfect mix of style, technique & emotion.
He refered once to singing being like acting and that is exactly what he does with his voice. He changes the character of it in a multitude of ways from almost comical in Wanna Be Startin' Somethin' to mornful in 'Who Is It' as just two examples.
The ability to sing loudly with great clarity (Break Of Dawn, Man In The Mirror etc) and also having the ability of doing the total opposite when exposing his voice to all faults in Gone Too Soon & Will You Be There where every breath and mouth gesture is heard, almost like putting it under the microscope.
IMO, He just colours the lyrics better than anyone else, Honest and never cliche. A good example is at the end of 'Smile' the last time he sings the word 'smile' he captures several emotions which some artists fail to do in a whole album of work.
I could go on for ages and ages, lol. But I always have this discussion with people and leave them with something to seriously think about. As the years go on I believe the appreciation will grow, geezzzz he could have stopped when he was 12 and would still be considered one of the greatest vocalist ever.