This documentary of BJ Penn showcases his whole career.
You can also see more footage of former UFC Women’s Bantamweight & bronze medal Judo Olympian Champion Ronda Rousey rolling in the Gi with 2001 BJJ world champion & UFC Lightweight and Welterweight Champion BJ Penn at Art Of Jiu-Jitsu Academy in Costa Mesa, California. The Mendes Bros were watching.
You can see that BJ actually nails a nice Sasae standing foot sweep to back take on Ronda at one point:
Here is the first video: