Born in Eruwa, Western Nigeria, Sikiru grew up in a "talking drum family" where he began his tutelage of the instrument at his father's side, at the age of six. He then went on to tour and record several albums with renowned Nigerian Juju artist Chief Ebenezer Obey and his Inter- Reformers Band. Obey, who called his personal style the miliki (enjoyment) sound, began where noted juju entertainer I.K. Diaro left off. Obey drew in such Western elements as multiple guitars and a Hawaiian steel guitar soloist, adding them to the traditional rhythmic foundation.

After he moved to the Bay Area in 1985, Sikiru soon met world-renowned percussionist and leading African music artist Babatunde Olatunji. Shortly after meeting Olatunji, Sikiru joined his Drums of Passion ensemble and began a 17 year period with the group, recording & touring extensively throughout the world, until a year before Olatunji's death in 2003.

While a member of Olatunji's Drums of Passion, Sikiru recorded with Stevie Wonder & Carlos Santana, and performed with the Grateful Dead, where he met Grateful Dead drummer Mickey Hart. It was after meeting Hart that Sikiru also joined Hart's Planet Drum ensemble. In 1991 the group's debut release, Planet Drum, hit #1 on the Billboard World Music Chart, remaining there for 26 weeks, and went on to receive a Grammy Award for Best World Music Album. In 2002 Sikiru joined Mickey Hart's Bembe Orisha (party to the spirits), where he continues to tour & perform.