Bakgaga surprisingly hired ex-Chiefs assistant coach Khumalo to serve as a technical director in August.
The Premiership rookies have since risen to the summit with a third of the season gone, in contrast to when they narrowly survived relegation last term.
"We need our ex-players getting involved in football," said Radebe, who captained South Africa and Leeds United prior to retiring in 2005.
"That is a great step to take for Doctor and shows maturity and responsibility as an ex-pro.
"I think he's got a lot to give and you can see with the performance of the team... there's some changes and obviously whatever they've done to bring Doctor on board it's working, so he's a good man.
"He's not just 'TD' but he's a motivator, he's an inspiration to them."
Radebe is likewise happy that fellow Bafana legend Helman Mkhalele is involved with SAFA's coaching structures at youth level.
"You also got Helman Mkhalele who is in the Under-20s and U-17s as assistant coach at SAFA which is absolutely great and encouraging to see
"Let's progress and let's go higher. Let's see the involvement of ex-players, people that have actually brought the fans to the stadium, inspired the nation by bringing a trophy to the country and made sure that we enjoy football," concluded Radebe, who was part of the technical committee that appointed Bafana coach Stuart Baxter as Shakes Mashaba's successor in June.