Unfortunately, "good" is relative to how long you have been going to a specialist. It's only with that personal contact that you can really tell if the specialist is a good fit with you and your conditions.
With stuff like urology, especially for issues relating to the prostate in men and cancer, it is imperative that research be done to determine how long the doctor has been specializing in the field, what hospitals they have surgery privileges with, and if they are either published in the field or involved with specialty organizations in teaching capacities.
I know you are looking at Monmouth County specifically, but you may want to check out
Dr. Robert E. Weiss from RWJUH in New Brunswick and Somerset. My father has been seeing him for more than 20 years and appreciates his manner and knowledge. Dr. Weiss is also very much aware of how other conditions may affect the prostate and the possible treatment options.