1. Another Part of Me
I don't like this song a lot - mainly because it sounds dated as hell and isn't one of his timeless songs - but when it is performed live, in huge arenas with 60 to 70 thousand people watching and screaming, this song is one hell of a spectacle to watch.
2. Man in the Mirror
Goddamn, this is one of THE best songs to sing live. Even the recorded version seems to be sung live. The intro is simply epic and the ad-libs are really powerful. This song was meant to be performed live.
3. Dirty Diana
It has the same vocal/recording style as MITM. Except, sexual energy replaces the spiritual energy. Everything about this song spells danger, the simmering intro, the creeping guitar riffs which seem as if they are contained with deliberate force until the chorus kicks in - and the screaming. The first song where he actually screams. Again, this track was made for the stage.
4. Black or White
I just wish Michael had sung this live - without the lip-sync I mean. It is so damn catchy and one of his most fun songs even though it has a very serious theme. Lyrics that every person in the crowd could sing. Overall, this is a song during which Michael could have a lot of fun on the stage and entertain the audience.
5. Human Nature
Have you seen the live versions of this song? Simply magic. Every note is hit spot on and the falsetto part is enough to melt every fan's heart (irrespective of their gender). There is something about this song which sounds so awesome. Maybe it's because the album version is too flawless that I'd rather hear/see the live one. Can't put my finger on it.
Honorable mentions:
Billie Jean, Wanna Be Starting Something, You Are Not Alone, Smooth Criminal, Earth Song, I'll Be There, Working Day and Night, Will You Be There, The Way You Make Me Feel, Morphine (never been sung live, but has the potential to be one of the best live tracks), Heal the World, Give in to Me (same as Morphine)and Beat It.
(I might look like a Bad fan, but I like Dangerous far more than Bad
)