Bennett, who practiced without restrictions on Wednesday, sat out last week for the first time in over three years because of a ribs injury.
Bennett is currently tied for eighth in receptions (50) among NFL tight ends. He is also tied for 10th in first downs (24) and yards after the catch (205) among his position group.
Bennett has two touchdown catches in four career games versus the 49ers.
Running back Ka'Deem Carey (head) had full participation.