Andrews has been activated from the injured reserve list and head coach John Harbaugh said Andrews would play against the reigning Super Bowl champions in Sunday's NFL playoff game.
"I can't tell you how excited (I am)," Andrews said. "This is what I love to do. I love to play football. I love the Ravens. I love this city. I'm going to give them everything I've got.
"I'm feeling good. I'm going to help this team any way I can. Whatever they're asking me to do, I'm going to do."
The 28-year-old has been out of action since suffering an ankle injury on November 16 but has been in full practice for the past two weeks.
Isiah Likely has stepped up in the absence of Andrews and quarterback Lamar Jackson will now have two quality tight end options.
Drafted in the third round of the 2018 NFL Draft, Andrews has built up an effective understanding with Jackson, who recently described him as his "bread and butter".
"With Mark and the type of guy he is, the type of caliber player he is, and what he brings to the table for us, it would definitely mean a lot for us," Jackson said earlier this week about the prospect of his return.
One of the NFL's leading tight ends over the past four seasons, Andrews had 45 receptions for 544 yards and six touchdowns prior to his injury.
