David Kravish had 11 points and 12 rebounds for the Golden Bears, five of whom scored in double figures.
Crabbe, who scored a career-high 33 against Pepperdine on Tuesday, had 17 points in the second half and helped key a decisive run to keep the Bears undefeated on the young season.
"I was looking for my shot too much at first instead of getting to the middle like I did in the second," Crabbe said. "I started doing that and found myself getting easy buckets."
Cal (3-0) led by one at the break but quickly opened a seven-point lead behind the scoring of Crabbe, Cobbs and Robert Thurman. Thurman scored six quick points as the Bears went ahead 45-39 near the 12-minute mark.
"Justin had a stretch where he made some shots, then Allen made some shots," Cal coach Mike Montgomery said. "We played better in the second half."
Udofia, who had just 2 points on 1-for-6 shooting in the first half, kept the Pioneers close. He hit his first five shots of the second half and converted a three-point play with 11:39 left to pull Denver to within 45-42.
Cal stepped up after that. Cobbs hit a runner, Crabbe drained a three-pointer, and Thurman hit a baseline hook to push the Bears' lead to 52-42 with 8:27 left.
Crabbe's three-pointer put him over the 1,000-point mark in his 68th game at Cal. He now has 1,010 points and is the 42nd player in school history to reach the milestone.
"After the win, I honestly forgot about it until people reminded me of it," he said. "It's a good accomplishment, but I was happy we got the win."
After a layup by Blake Foeman stopped the run, the Bears scored eight straight points to open a 60-44 lead with 5:01 left.
Colorado 60, No. 16 Baylor 58:
Askia Booker scored 19 points and the Buffaloes (3-0) reached the final of the Charleston Classic in South Carolina. ... Pierre Jackson had 12 points for the Bears (3-1).
Oregon St. 66, Purdue 58:
Devon Collier scored a career-best 27 points and had 14 rebounds for the Beavers (3-1) in the third-place game of the 2K Sports Classic in New York. ... AJ Hammons scored 20 points for the Boilermakers (1-3).
Sacramento State 72, Utah 71:
Dylan Garrity scored 19 points and hit the go-ahead jumper with 1:27 left to help the visiting Hornets (3-0) rally from a 13-point deficit. ... The Utes (1-1) got 16 points from Glen Dean.
Oregon 74, Vanderbilt 48:
E.J. Singler scored 22 points for the Ducks (3-0) in their victory over the visiting Commodores (1-1).
Pepperdine 58, Washington State 56:
Lorne Jackson hit back-to-back three-pointers down the stretch in regulation and added the game-winning basket with 12 seconds left in overtime, and the Waves (1-2) defeated the visiting Cougars (2-1), who were scoreless the final 5:25 of regulation and squandered a 50-42 lead. ... Brock Motum led Washington State with 15 points.
The NCAA ruled UCLA freshman guard Shabazz Muhammad eligible to play, saying that UCLA's sanctions against Muhammad were sufficient after the school required him to sit out three games and repay $1,600 in impermissible benefits.