Recently retired NFL superstar Rob Gronkowski will have Tampa Bay Buccaneer fans drooling over the idea of a comeback ... after the tight end was spotted on the gridiron in Orlando over the weekend.

It's a clip that will have folks wondering if the 4-time Super Bowl champ has the itch to return to his day job ... considering he's still in incredible shape.

But, don't expect the 33-year-old to pull a Tom Brady and return to the league just yet ... 'cause he wasn't running routes and catching passes -- he was lining up for some field goals with his buddy/TMZ Sports TV show co-host Mojo Muhtadi.

The guys were at Camping World Stadium to check out a Pop Warner football game ... and we're told Gronk decided to hop on the gridiron and show off his boot.

Gronk's no Justin Tucker, but it doesn't matter -- he was still able to get the pigskin between the pipes for a successful attempt.

Gronk also had some fun talking to some of the kids at the game ... even joining their huddle for a cute moment.