Cook, 23, left the Kings in summer 2019 after a full season with the club during 2018-19. He played 42 times, scoring twice.
He began his career at Watford as a scholar and was part of the Hornets Under-18s title winning side.
He formerly played with Wealdstone and Billericay Town, and we are delighted to have him back at the club after a two-year gap. Welcome back Jacob!