The right-hander was placed on the DL on July 9 with left scapula bursitis and felt no pain during his rehab.
"It went very well," said Jenks, who allowed one run in two inning of relief while on assignment. "I went down there and got what I needed to get in. And that was just working with a hitter. My second outing was great. I got my command back right away, and I felt healthy.
"[Gaining my command] was the biggest thing. I threw a bullpen in Texas before I left and it felt fine there. It was just command-wise, seeing hitters with that adrenaline is just completely different. My biggest concern going into those rehab starts was making sure my command was there."
Jenks has gone 2-0 with a 1.95 ERA and 18 saves in 29 games this season. He ranks seventh among relievers in the American League in ERA and is tied for ninth in saves. Jenks last pitched on June 29 against the Cubs, when he recorded the save to finish the White Sox three-game sweep.
"Hopefully, he is healthy," White Sox manager Ozzie Guillen said. "He threw a couple of games and he's fine. Hopefully, he won't have any setbacks and we are going to use him the way we've been using him the last couple of years."
Should a save situation arise on Friday night, Jenks fully expects to be on the mound to shut down the Royals.
"Yeah, I mean, I'm back," Jenks said. "Why wouldn't I?"
David Just is an associate reporter for MLB.com. This story was not subject to the approval of Major League Baseball or its clubs.