There is much debate over whether futurama is better than the Simpsons and in my opinion it generally is, especially the later seasons of the simpsons where the plot line seems to be wearing thin. Futurama is not only a comedy, it is also very emotional, and at times sad. The story arcs are well thoughout and the Mat groenings year 3000 is absolutely packed with creativity. Billy West makes a charming Fry, who's heart is in the right place, even if his brain isn't quite with Leela, the one eyed object of his desires. Marcus Felix plays Bender, who is absolute class.
The show does seem to better it self as it progresses, Bender the robot isn't as funny in the first season as he is in the final few. It's a sort of Dan Castanaletta situation. His voice is much more developed and funnier late in the seasons than it was to begin with. The last two seasons were by far the best, funniest and emotionally deep cartoon I have ever seen. Shame they axed it.