The Breakfast Club star insisted that Sheen is a changed man, saying that the troubled actor has finally got his focus back.
"He's a different guy. He's a completely different guy," Estevez told Access Hollywood. "He's got his voice back. And I think he's got his focus. He's on a new show and he's gonna be roasted by Comedy Central - which I think is going to be hysterical."
He added: "I think that he's really got it together. And he's very excited about the crew of the show he's putting together."
The 49-year-old went on to reveal that their mother has been staying with Sheen in an effort to help him get better.
"She's back and forth," he said. "We're a very close family and we're a very real family, and I think every real family has real problems. And [Charlie's] gone through it, and he's come out the other side, and I think we're all really excited to see what the next chapter of his life is going to be like."
Sheen recently deemed himself to be "very roastable" and challenged his roasters to "bring it" on September 19's The Comedy Central Roast of Charlie Sheen.