Nottingham Crown Court was told Cole, who is currently a coach alongside Frank Lampard at Everton, was led around his house whilst cable-tied during the ordeal.
Kurtis Dilks, 34, is accused of being part of a four-strong gang who broke into the home of the former left-back before stealing jewellery, mobile phones and a BMW key in January 2020.
The couple's two young children were in the house at the time and his partner Sharon Canu tried to call police as she hid in a wardrobe.
Prosecutor Michael Brady QC told the court: "The next thing Ms Canu knew was when one of the robbers opened the wardrobe door and took the phone from her while she was talking to the police.
"She then saw Mr Cole on his knees with his hands tied behind his back."
The court heard Dilks was also accused of raiding the home of ex-Tottenham Hotspur midfielder Tom Huddlestone.
Mr Brady told jurors Huddlestone's home was targeted in a "well-planned operation" while he was playing a match for his ex-club Derby.
Dilks, Ashley Cumberpatch, and Andrew MacDonald are accused of conspiring to rob Huddlestone's wife, Joanna Dixon, of £500,000 of jewellery and handbags, including her wedding and engagement rings.
Jurors were told robbers tied her hands behind her back with cable ties, with one saying: "Don't make this difficult, we don't want to manhandle you."
The defendants deny all charges. The trial continues.