The former Third Watch actress, who is already the mother of 10-year-old son Messai from a previous relationship, revealed that they will welcome the baby this fall.
"This is the most exciting time in our lives," Long and Udoka told People in a statement.
"Words can't explain how thrilled we are by the new addition to our family. We feel truly blessed and appreciate all the well wishes and prayers."
Long previously provided the voice of Roberta on the first season of The Cleveland Show.
> Read more Showbiz headlines here