Cole returns after missing England's last game, a 4-2 defeat by Sweden in November, through injury.
Manchester United defender Chris Smalling is also back in the squad for the first time in almost a year and Everton midfielder Leon Osman, a surprise inclusion for Sweden, retains his place.
England play Brazil at Wembley on Wednesday ahead of World Cup qualifiers against San Marino and Montenegro in March.
Goalkeepers: Jack Butland, Joe Hart.
Defenders: Leighton Baines, Gary Cahill, Ashley Cole, Phil Jagielka, Glen Johnson, Joleon Lescott, Chris Smalling, Kyle Walker.
Midfielders: Michael Carrick, Tom Cleverley, Steven Gerrard, Frank Lampard, Aaron Lennon, James Milner, Leon Osman, Alex Oxlade-Chamberlain, Theo Walcott, Jack Wilshere.
Forwards: Jermain Defoe, Wayne Rooney, Daniel Sturridge, Danny Welbeck.
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