They said the "overwhelming view of the Scottish Parliament" was to reject the draft deal and to seek other options.
Possible next steps include extending negotiations, a softer Brexit, or holding another referendum.
Earlier in the week, Mr Corbyn had said through a party spokesman that he would "relish" the opportunity to debate with the prime minister about her "botched Brexit deal and the future of our country".
She said: "I've worked out that you could plan and hold a referendum in 22 weeks".
The prime minister is refusing to budge on her deal despite the prospect of a landslide defeat next week.
She said: "His comments about the second referendum today show that what the Labour Party want to do is frustrate Brexit".
The amendment - backed by MPs like Labour's Yvette Cooper and Conservative MP Sarah Wollaston - could determine the outcome of Brexit with MPs nearly certain to vote down May's deal on December 11.
MPs in the House of Commons will vote on December 11 on the divorce deal agreed by May with the European Union, with many already warning they plan to oppose it. They also deserve to hear all the options.
This would be the first time May has been willing to go up against the Labour leader in a live television debate after she refused to take part in any in the run-up to last year's general election.
Speaking on the channel, he said their offer "seemed a sensible one.the timing seemed good".
No 10 is believed to prefer the BBC programme as it would be the most "rounded" and focused on the PM's deal and not the wider political situation. But they are not the only unhappy ones and once the vote is over other players could make a move.
Trade Secretary Liam Fox.
The ultimate gamble for the Prime Minister, who has to hope that voters will, via the ballot box, back her plan.
"We have always done well".
Andrea Leadsom, another leading government Brexiteer, still has significant reservations with the deal - specifically the backstop for avoiding a hard border on the island of Ireland - allies of the MP have told Business Insider.
"[Theresa May] is giving us alternative facts, she is somebody who for a vicar's daughter sails very close to the wind when it comes to setting out the facts".
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