Joe Kinnear told BBC Sport: "He's got a lot of potential, he's quick and wants to develop here. It's up to him to show he is worth a first-team place."
The 24-year-old can play on either wing and has covered at right-back for Gillingham in recent weeks.
Because James is not under 23, Forest did not have to pay a tribunal fee unlike the possible scenario should Gareth Williams leave for another club this summer.
Rogers and James have both agreed three-year deals and Impey has signed on a one-year contract.