"I hope u enjoy watching this as much as we enjoyed making it," Jackson, 49, tweeted Friday. "#NoSL333P @JColeNC."
In the video, the pop/R&B superstar — who just received the Ultimate Icon Award at the BET Awards — slowly dances around her house and lets her hair curls loose while singing the sultry tune.
"You're missing me, I'm missing you / Whenever we meet, we ain't gonna get no sleep," she croons. "When I get to be together with you / It's fait accompli, we ain't gonna get no sleep."
Jackson also adds a personal touch to her vulnerable lyrics. In the video, she shares a throwback photo of herself as a child with her dad, Joe Jackson, and appears to give a shout-out to her late brother, Michael Jackson, by wearing a black fedora hat.
Several days ago, Jackson supported Cole at his Staples Center show in L.A. on Sunday, July 19. "Girls night out @JColeNC concert! #ColeWorld," the "All for You" singer tweeted at the time.
Cole added Thursday: "A high honor when you [came to my] show at Staples Center @JanetJackson. Thank you. And….No Sleeep. Classic!"
This is Jackson's first music video since the release of her 2008 album Discipline. She's set to kick off her new Unbreakable tour next month.
Watch the video above!
Sign up now for the Us Weekly newsletter to get breaking celebrity news, hot pics and more delivered straight to your inbox!