Charlie Sheen is pining for his two daughters.The 'Hot Shots!' actor - who is currently in a custody battle with ex-wife Denise Richards over their two children, Sam, three, and two-year-old Lola. Sheen's 'Two and a Half Men' co-star Holland Taylor said: "He's suffering. He misses his children. He's a pretty private guy, but he says it's hard."He is loving, doting, fascinated, obsessed. He can't wait to be with them. He is a sweet dad."Taylor - who plays Sheen's mother in the hit US sitcom - says it's "ridiculous" the 41-year-old star is only allowed to see Sam and Lola if Richards' nanny is present.She added: "He feels it's unfair that he doesn't have them 50 per cent of the time, as he should. He has to use Denise's nanny. This is a ridiculous court ruling."Despite his former wild reputation, Taylor insists Sheen - who is now engaged to real estate investor Brooke Mueller - is a changed man who is devoted to his children.She added: "He is the most gentlemanly actor I've ever worked with. He lives a totally quiet life. He lives to see his two children. He is not at all the person he once was, and we should all be allowed to grow into who we are."Sheen and Richards married in 2002 and she filed for divorce four years later.