Remembering Arleen Sorkin (1955-2023): Behind the scenes of 2011’s DC Universe Online; Sorkin voices Harley Quinn and Mark Hamill (voicing the Joker) praises Sorkin’s lovable Harley. Both Arleen Sorkin and Mark Hamill originally voiced Harley Quinn and the Joker, respectively, in the 1990s Batman animated shows and also in 2000’s “Batman Beyond: Return of the Joker” and the 2009 video game “Batman: Arkham Asylum”. 2011’s DC Universe Online is said to be the last time Sorkin voices the character