The comedy stars No Ordinary Family's Michael Chiklis as Vince, a man who decides to take a more honest approach to life.
Deadline says that Jobrani will play his contracting partner, who is disturbed by Vince's new candid nature.
Jobrani previously played Dr Bhamba in Better Off Ted and has guest starred in shows including The West Wing, 24, Curb Your Enthusiasm and ER.
Meanwhile, Engel is expected to play Vince's mother in the CBS project. The character ends up moving in with Vince after splitting up with her husband.
Engel starred as Pat in Everybody Loves Raymond and has previously worked on projects such as Mary Tyler Moore and The Betty White Show.
> 'Weeds' star joins 'Vince Uncensored'