The 23-year-old made 10 appearances for the Bees at the end of the recent League Two campaign as Hendon looked for a permanent replacement for club stalwart Lee Harrison, who is serving as his assistant.
And Harrison admits that the club are aiming to bring Cole back to Underhill, with Hendon already entering negotiations with the player.
"It's a difficult one at QPR, you never know if to go through the manager or the chairman," he said.
"Jake Cole is definitely one of the ones we'll be looking at.
"Ian has already spoken to him and his agent about coming here. He's played 10 games here already and it's not so hard to introduce him to the squad.
"He did ever so well during that time but he's got to sort out the financial side and whether he's happy to come here."