Create your type.
Open the Appearance panel.
Create two strokes, one for the same color fill as the type and a stroke with the white.
Drag the stroke that is the font color below the Fill. Make it way larger.

And if desired, set the Strokes to use the Round joins as per your sample.

These are the settings I used on 72 point type.

Mike

Click image for larger version. 

Name:	capture-002495.png 
Views:	209 
Size:	23.1 KB 
ID:	123243