"It's been almost 20 years since we said goodbye. And he's a sweet, lovable man. He's really a lovable guy, and it was fun to see all my whole family back together. It was great." Adding of how he got back into character,

Bryan Cranston is all in on the “Malcolm in the Middle” revival. The actor told People in an interview published Sunday that returning to play his character Hal Wilkerson has been “so rewarding” as an actor.

It's been almost 20 years since we said goodbye,” Cranston tells PEOPLE of the single-camera family sitcom that ended in 2006