Is it possible to bring Cicero back to life?

Solution 1:

Facing the same situation, I spent a morning studying how the console command actually works. After being inspired by UESPWiki's illustration on the difference between RefID and BaseID, I used the following steps of command, and it worked for me, as I've finished the quest "Hail Sithis!" of Dark Brotherhood. (ps. I typed these commands in Dawnstar Sanctuary, but I guess it doesn't matter.)

prid 0009BCB0
enable
moveto player

Then, Cicero appeared, and I could talk to him to trigger the follower conversation.

Solution 2:

Open the console, click on his corpse and type in "resurrect". The character will still be recognized as dead regarding quests etc.

More information on the command over at UESP.

In addition, if you get your conjuration up to 90+, there is a perk which allows for an infinite duration of conjured/resurrected followers.. He would still be your undead follower.