The cornerback was suspended for the first eight games of the season for violating the league's rules on performance-enhancing drugs.
The 23-year-old told the team's official website: "Obviously I'm going try to get into the rotation on special teams and eventually the defense. I want to become a better cornerback and want to transfer that stuff to special teams."
Head coach John Harbaugh added: "Asa looked good. He looked like he was in shape. Like always, working the little nuances of the game and stuff like that.
"After a few weeks off, those are things in terms of knocking the rust off. But I thought he was surprisingly sharp, and he looked good."
Guard Kelechi Osemele, who is due to undergo back surgery next week, was placed on injured reserve to make room for Jackson on the Super Bowl champions' 53-man roster.