I haven't read Esolen's Inferno, but his translation of Purgatory was superb--not just the translation itself but the notes, which I'm fairly certain Esolen wrote. After translating the Inferno, the Purgatory, and then the Paradise, Esolen was stimulated to write a magnificent interpretative introduction to the Paradise which is one of the best pieces I've ever read on Dante.
Esolen's Introduction to the Paradise ranks with Erich Auerbach's essays on Dante in Mimesis and Scenes from the Drama of European Literature, and I prefer it to T. S. Eliot's famous essay on Dante; it is a classic. Esolen's introduction to the Paradise in this edition is alone worth the price of the book, and I would characterise it as a must-read for anyone interested in Dante and his Comedy.
As with the previous volumes of the Comedy, in the Paradise Esolen again proves himself to be a sensitive and judicious translator, and the notes are again excellent.