The album earned largely mixed reviews from critics and debuted number seven on the US Billboard 200, with first week sales of 49,000 copies.

Lead single "Majic" and follow-up "Worst Case Scenario" both reached the top 20 on Billboard's Adult R&B Songs chart.

"[4] Melanie Sims from Associated Press felt that with Signature, Joe "still invokes the sweet, sensitive and sultry.

He found that "it's the lecherous lyrics, more latter-day R. Kelly than Marvin Gaye, that distinguish Signature from the rest of Joe's catalog.

"[5] SoulTracks editor Melody Charles was critical with the album first three tracks which she found to "range from slightly lethargic to outright comatose," but noted that "Joe uses the rest of the CD to redeem himself, and Signature ends up delivering what we've always come to expect and enjoy about this talented church musician turned cool, come-hither crooner.