The singer is currently preparing to release his ninth solo studio album Take the Crown on November 5, but insisted that he's open to the idea of rejoining the group for another album.
Asked if he would be returning to Take That, Williams told Magic 105.4: "I really, really hope so.
"The boys are pleased with me and I am pleased with the boys, I think there's an open invitation but we will see what the future holds."
The star will release his new single 'Candy' in the UK on October 29 and explained that he wrote the track in his loft.
"It was written with me and Gaz in the attic at my place in LA, he moved in with us for a little while and we spent days and nights up there giggling about all things in general and this was one of the first songs we wrote together."
Williams recently revealed that his new album Take the Crown was made to perform in stadiums.
Watch the music video for Robbie Williams's 'Candy' below: