I can't see a way to do this. One of my mods deleted a post that shouldn't have been deleted, and when I select show it pops back up where I can see it of course, but there's no option in the inline drop-down to restore it.
Selecting Approve Post doesn't put it back - I realize that is intended for a moderated post but I tried it just for grins.
Man. I soft deleted a thread. And was looking to undelete that thread. Realized that I had to undelete the first post in the thread. This thread is not directly connected but pointed me to the right direction.