Jack Jones, the silky Grammy-winning crooner who had hits with “Lollipops and Roses,” “Wives and Lovers” and “The Impossible Dream” before inviting TV viewers to set a course for adventure on The Love Boat, has died. He was 86.

Jones died Wednesday night at Eisenhower Medical in Rancho Mirage, California, after a two-year battle with leukemia, his stepdaughter Nicole Whitty told The Hollywood Reporter.

Jones was born into a showbiz family. His mother, Irene Hervey, was an Emmy-nominated actress who spent more than 50 years in film and on television. His father, tenor Allan Jones, portrayed the romantic male lead in Show Boat (1936) and in the Marx Brothers’ A Night at the Opera (1935) and A Day at the Races (1937), and he managed a hit song of his own with “The Donkey Serenade.”

For eight seasons and more than 200 episodes of ABC’s The Love Boat starting in 1977, Jones extolled the virtues of...