TMZ has learned ... Cube has already reached out to the actor to reprise his role as his burrito-eating, dog-catching father, Willie Jones, in the next "Friday" movie.

We spoke to Witherspoon ... who tells us, "I said, 'HELL YEAHHHH! I am ready to do this!"

Witherspoon says nothing is in stone yet ... but he's very confident everything will be worked out.

TMZ broke the story ... Cube has also been in talks with Chris Tucker and Tiny Lister about reprising the roles they made famous in the 1995 hit.

WItherspoon says he's excited to work with all his old pals -- but he's more fired up about the women ... telling us, "One thing for sure that I do look forward to seeing on the set is pretty girls."