Not all simple polytopes are incribable, e.g. the dual of the cyclic polytope $C_4(8)$ is simple and not inscribable, as shown recently in Combinatorial Inscribability Obstructions for Higher-Dimensional Polytopes by Doolittle, Labbé, Lange, Sinn, Spreer and Ziegler
In dimension $3$, there is a combinatorial criterion by Rivin describing inscribabilty completely. I think already a cube with corner cut, which is simple, will be a non-inscribable $3$-polytope.