The former couple wed in 2002 and divorced in 2006. They are the parents of two daughters.
"Incredible day on the set of #AngerManagement!" Sheen said on his WhoSay account Friday. "What's better than having @DENISE_RICHARDS on the set?!? Not much."
Set to air on FX, the show is expected to be a comeback vehicle Sheen, who was fired last year from his sitcom "Two and a Half Men" for drug use, erratic behavior and rude remarks he made about series creator Chuck Lorre. It is based on a 2003 film starring Jack Nicholson and Adam Sandler.
Richards guest starred on "Two and a Half Men" when Sheen was the show's lead.
Sheen has been replaced on "Two and a Half Men" by Ashton Kutcher.