I'm assuming you mean restore a listing from a cancelled sale and not removing cancels from a used stamp.
Just go to Members Area >> Selling >> Close/Sold (on right hand side) and find your item >> Click on the Gray "Create Similar Listing" Icon. That should do it.
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Just go to Members Area >> Selling >> Close/Sold (on right hand side) and find your item >> Click on the Gray "Create Similar Listing" Icon. That should do it.