The trouble with going back to the Classical era and asking for specific names is that, much like in a lot of places around the world, specific names aren't remembered. This is especially true for composition, where not only are names not always remembered, but music itself has had trouble surviving.

This isn't to say there wasn't art or music at that time in Africa, though. Far from it. This, for instance, is a sculpture from Nigeria made by the Nok people between 1000 BCE and 300 AD. They made other sculptures as well, often using terracotta or sometimes iron.

It's also useful to think about textile art, which doesn't necessarily fit into the above categories, but which was (and still is) an important form of artistic expression. It involves weaving in certain colours and patterns to convey a certain idea or membership in a certain group (leading to something like this from South Africa or this from Kenya). There's also painting on cloth which, for obvious reasons, doesn't survive so well.

While it's not strictly about art, Christopher Ehret's book "An African Classical Age: Eastern and Southern Africa in World History 1000 BC to AD 400" does talk about art from the period. It's a good place to start, if you're interested.