Donnie and Jennifer Esposito were taped while on the set of Blue Bloods. You can't hear the audio, but it is a nice video of what goes one between takes.
Here is another video of Donnie taping a scene for Blue Bloods from MiyaPark:
Michael Madsen will play guest role on Blue Bloods. Check out the article on Digital Spy (contains minor plot spoilers).
Here is an opportunity to win an autographed copy of "The Block" and support Team Betty Brasil.