The hip-hop legend has gone from parental advisory to family friendly. This fall, he’ll join The Voice and release a new Dr. Dre–produced album, all while looking for new joint ventures—including the kind you roll—that will keep his grandchildren set for life.

Striding through the streets of Paris, the Olympic flame held high above his head, Snoop Dogg was surely the first torchbearer ever asked to do the Crip Walkthe hip-hop strut made famous in his Drop …