Doctor Zaius, Doctor Zaius... (from the season seven episode, "A Fish Called Selma"note the Day in the Limelight episode for both Troy McClure and Selma, as Selma continues searching for a man so she can have a family before she dies, and Troy McClure tries to resurrect his dead career after years of starring in bad movies and a rumor that he does sexual things to fish)
In their earliest games, the music was rather annoying: typically a looping, low-quality hissing of the theme. However, in more recent games, they've actually used, for example, orchestrated scores. Example: The Orgasmically Awesome soundtrack to The Simpsons Game.
Bart Simpson (and others) from The Simpsons Hit & Run (which is a very underrated game) has some pretty rockin'themesaswell.