Though a cartoon patriarch, my name echoes epic tales, but my Odyssey involves donuts, not sails. Who am I?

I drip when I am hot, I am creamy inside, Lick me quick, as I melt in heat.

I'm dirty, mean, I'm mighty unclean I'm a wanted man Public enemy number one Understand?

I wear a grin not born of glee, my wisdom hidden in mockery. A fool by name, but not by mind. What role is mine, so misdefined?

Eating me is the symbol of roman laziness. Beating me is the start of roman debauchery. You dont need to go far to find me, but if you can't get me, you will say I am sour.