Richard Beaudoin was recalled as a bridge-builder and advocate for Gays and Lesbians. His colleague Gary Hollander told the Milwaukee Journal: "At a large medical center, it might be easy to assume that Gay, Lesbian and HIV issues would have a broad acceptance. The truth is they only get a broad acceptance if the ambassadors who are doing that work are both strong advocates and patient people, Rick was both of those."

Beaudoin was Clinical Coordinator of Gay and Lesbian Mental Health Services at Sinai Samaritan Medical Center in Milwaukee, and was working toward a doctorate in Psychology at UW-Milwaukee and specialized in developing support systems for Gay and Lesbian youth. He passed away on January 6, 1995 at the age of 38, after suffering a heart attack.

Professional colleagues, clients and friends gathered for a memorial service at St. Paul's Episcopal Church. Beaudoin had been an active member of the church, serving on the committee that chose its first woman rector.