The Fantastic Four star was just 12 years old at the time, and he recalls feeling nervous about working alongside the comic legend.
"He commanded that set; that was his show," Jordan tells 'DuJour" magazine about working with Bill Cosby in 1999 on an episode titled "The Vesey Method."
The actor, now 28, gives credit to Cosby for taking the time to help him develop his character.
"He gave me a tick," Jordan explains. "[He said], 'You care about your hair. You love your hair. You brush your hair nonstop all day. That's what you do.' And I was like, 'Alright, got it.' "
The young actor took the note to heart. "So I brushed my hair," he added. "And you're shooting this thing for hours. Imagine brushing your hair until your scalp is raw."
Bill Cosby Admits to Giving Women Drugs Before Sex
Cosby's lesson stuck, and taught Jordan the importance of perseverance – even when it comes to the smallest roles.
Jordan's next breakout part came on The Wire in 2002, which led him to a role on All My Children from 2003 to 2006. Now the budding star, who earned rave reviews for his performance in 2013's Fruitvale Station, is heading up two new franchise reboots: Fantastic Four, in which he plays the Human Torch; and Creed, in which he plays the son of Apollo Creed from the Rocky films.
Meanwhile, Cosby's fall from grace has been meteoric in the wake of a sexual assault scandal involving dozens of accusers over the course of decades. Recently, The Cosby Show producer Tom Werner deemed the show's legacy "tarnished."
The disgraced comedian is scheduled to be deposed in court regarding some of the allegations before Sept. 30, according to an attorney for several of the accusers, Gloria Allred.
Cosby and his lawyers have continually denied the allegations against him.