Joel Olsteen's public published statement of faith is completely orthodox:
What We Believe
The Bible: We believe the entire Bible is inspired by God, without error and the authority on which we base our faith, conduct and doctrine.
The Trinity: We believe in one God who exists in three distinct persons: Father, Son and Holy Spirit. We believe Jesus Christ is the Son of God who came to this earth as Savior of the world.
Salvation: We believe Jesus died on the cross and shed His blood for our sins. We believe that salvation is found by placing our faith in what Jesus did for us on the cross. We believe Jesus rose from the dead and is coming again.
Water Baptism: We believe water baptism is a symbol of the cleansing power of the blood of Christ and a testimony to our faith in the Lord Jesus Christ.
Communion: We believe in the regular taking of Communion as an act of remembering what the Lord Jesus did for us on the cross.
Growing Relationship: We believe every believer should be in a growing relationship with Jesus by obeying God's Word, yielding to the Holy Spirit and by being conformed to the image of Christ.
At the end of every service at Lakewood Church, Joel Osteen shares the Gospel message and gives people an opportunity to respond to the Gospel message of Jesus Christ:
http://youtu.be/6GD9xFn2CHk
However, Joel Olsteen is a college dropout whom never attended seminary. As a result, he lacks theological competency.
But that doesn't make him a heretic, Satanist, etc... as the OP of this thread falsely asserted. Those you tube videos are riddled with fallacy and error.
Joel does need to reform his theology, set deeper roots down into the objective exclusivity the Christian worldview and epistemology requires, and come under the authority of a scholarly conservative theologian much like Timothy did with Paul; however, the vast majority of criticism I see on the Internet about Joel is pure nonsense. He's not a heretic, he's not a Satanist, he's not a reptilian alien, etc...
But he is a college dropout who never went to seminary that took over a successful ministry making it larger that needs accountability, discipleship, and reform. Unfortunately, he doesn't look to be seeking those things at this time. But again, that doesn't equate to the nonsense people are posting about him.