They sort of did, and sort of didn't.
First off, Tom Selleck has been occupied with Blue Bloods, which has taken up a lot of his attention. Selleck said in an interview in 2012 (when Benefit of the Doubt came out) that, while he was pleased with the CBS collaboration on Stone, CBS always seemed to feel they were not in the 2-hour movie business.
"That being said, that's not the end of Jesse, or at least I don't think so. There are a lot of other entities, whether cable or even feature films, but this is most likely the last one on CBS. I'm not done with the character, though."
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CBS has canceled them.
"Benefit of the Doubt" is now filming and is due out in 2012!! Yippeee!
CBS, of course. As to when, I don't know. I'm trying to find the answer to that one myself.
Yes, it has not been aired on CBS as of yet, it is not based on a novel, it is entitled, "Innocents Lost"
If this was on at 4pm, then it was probably not CBS but the local affiliate that aired it.