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Grammy-winning R&B soul singer D'Angelo is dead from pancreatic cancer ... TMZ has learned.

The "Brown Sugar" singer-songwriter died Tuesday morning in NYC ... according to sources connected to his family and his former manager Kedar Massenberg . Getty

D'Angelo was a singular talent who collaborated with the likes of Jay-Z , Snoop Dogg and Q-Tip ... after bursting onto the scene in 1995 with his solo debut album, "Brown Sugar."

He won 4 Grammys, including Best R&B Album for "Voodoo" in 2001 and "Black Messiah" in 2016. He also won Best R&B Song in 2016 for "Really Love" and Best Male R&B Vocal Performance for "Untitled (How Does It Feel)."

Even before the Grammy win, 'How Does It Feel' left an indelible imprint on music and the min

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