Sherman has been working his way back from season-ending surgery for a torn right Achilles in November as well as a procedure on his other foot during the offseason.
The four-time Pro Bowl cornerback got the green light to participate in drills on Tuesday and is on track to be at "full speed" for the start of training camp, 49ers head coach Kyle Shanahan told reporters.
Sherman also told the media on Tuesday that he likes what he sees from quarterback Jimmy Garoppolo, who won all five starts last season after he was acquired from the New England Patriots in a trade.
"James is great, man. He's fun," said Sherman, per the San Jose Mercury News. "He's been phenomenal around the team. He goes through every single read. His mind works really fast, which is cool to see."
Sherman praised both the patience and quick release of Garoppolo, bringing up the names of two of the game's greatest quarterbacks while assessing his talents.
"He's very deliberate in his reads, and he doesn't force it if he doesn't have to," said Sherman. "You can see a lot of the things that he learned from [former Patriots teammate] Tom [Brady], just going through his progression, going through them quick, going through the triangle, his reads from left to right, taking what the defense gives, not forcing the big play."
As for Garoppolo's release?
"It's pretty quick," Sherman said. "It's not A-Rod [Aaron Rodgers] quick. It's definitely quicker than most quarterbacks. ... When he takes his hand off the ball, you've got to be ready to break."
The 30-year-old Sherman ran on the field last month for the first time since he tore his Achilles last season. He was subequently released by the Seattle Seahawks in March and quickly signed by San Francisco.
Sherman has a league-best 32 interceptions since entering the NFL in 2011 as a fifth-round draft pick. He was the vocal leader of a defense that led Seattle to back-to-back Super Bowl appearances, but didn't have much to say about his former team on Tuesday.
"They decided to let me go and pursue another team," said Sherman. "Once they cut ties, I cut ties."