The experienced midfielder hopes that the Madrid player will return to the Rossoneri, but added that a position as deep lying playmaker would not suit the Brazilian
The 30-year-old has been continually linked with a move to the Serie A giants, and even though a transfer still seems far away, the Rossoneri skipper is looking forward to his former team-mate's potential return to San Siro.
"Kaka is welcome here at Milan. Everyone would like it if he came back," Ambrosini was quoted as saying by La Gazzetta dello Sport.
"Kaka is one of those players who left Milan, despite still having some unfinished business. He is a great player who still has a lot to give. In my opinion it does not seem like he has any physical problems."
Nevertheless, Ambrosini feels that the Brazil international will only be of added value if he were to play in his natural position.
"Kaka as the deep-lying playmaker? That seems like an impossible experiment to me. You cannot invent anything in football. He won the Champions League playing as a supporting striker."
The 82-cap Selecao international is under contract with Los Blancos until June 2015.