Terms of the deal were not disclosed.
Stempniak, 27, arrived in Arizona in a trade deadline deal with Toronto last season and gave the Coyotes a playoff-run boost with 14 goals and four assists in 18 regular-season games. He wasn't quite as effective in the playoffs, managing two assists in seven games.
Stempniak had a career-high 28 goals and 20 assists in 80 games with Toronto and Phoenix last season. He has 96 goals and 113 assists in a six-year career that includes a stop in St. Louis.