Woolfolk died on Sunday April 24 of undisclosed causes, with the band's frontman Philip Bailey taking to his Instagram on Monday to pay tribute to the "talented" saxophonist.
Bailey said Woolfolk had been ill for six years as he penned an emotional farewell.
He wrote: "I met him in high school, and we quickly became friends and bandmates.
Andrew Woolfolk and Philip Bailey
Instagram/Philip Bailey
"Andrew Paul Woolfolk was his name. We lost him today, after being ill for over 6 years.
"He has transitioned on to the forever, from this Land of the dying to the Land of the Living.
"Great memories. Great Talent. Funny. Competitive. Quick witted. And always styling.
"Booski… I’ll see you on the other side, my friend."