Minneapolis native Melissa Peterman returns to sitcomland -- as a grandmother. In "Baby Daddy" (7:30 p.m., ABC Family), the 40-year-old "Reba" veteran plays a woman whose twentysomething son finds himself raising a baby girl with his two buddies.
Cedric the Entertainer takes to the pulpit in the new series "The Soul Man" (9 p.m., TV Land). He plays a former R&B star who leaves showbiz behind to preach at his father's church in St. Louis. Wife Niecy Nash is less than thrilled with the idea. Let's see if viewers have a different reaction.
"Futurama" (9 p.m., Comedy), Matt Groening's lost-in-space cartoon, returns with 13 new episodes that feature guest stars George Takei, Patrick Stewart, Wanda Sykes and the voice of Homer Simpson himself, Dan Castellaneta. In the premiere, Bender's affair with a vending machine leads to a little Bender robot. Not a good idea.