Simpson, who was waiting in his car nearby, walked onto the bloody sidewalk to check Rogers' work, thus leaving his footprints at the crime scene, Meoli said.
Los Angeles prosecutors matched a shoe print taken from the scene to the sole of an expensive Italian shoe they contended O.J. Simpson owned.
Rogers began a cross-country killing spree that included about 70 female victims after the Simpson and Goldman murders, the film said. He was captured in Ohio in November 1995, weeks after O.J. Simpson was freed from jail.
Rogers was sentenced to death in Florida after a jury convicted him of killing a woman in a Tampa motel. He was later convicted of murdering a California woman, which resulted in a second death sentence. No other states have tried him.
He is awaiting execution in Florida and has no more appeals, according to the film.
Assistant District Attorney Pat Dixon, who prosecuted Rogers in the 1990s, said Glen Rogers may have an ulterior motive for claiming to have killed Simpson and Goldman.
"Rogers is on death row in Florida and California. If he's close to execution in Florida, he may be hoping that California will bring him back here which would postpone the execution," Dixon said.
The Simpson and Goldman killings did not match Rogers' other killings, Dixon added.
"Rogers and O.J. Simpson's cases don't match except that all the victims were stabbed. Rogers was a good-looking guy. He would go to bars, pick up women, court them, sometimes live with them a while, then kill them. The one victim he murdered in L.A., he killed the night he met her. I'm not aware of any instance of violence outside that pattern. What happened to Nicole Brown was totally different."
O.J. Simpson is serving a 33-year sentence with the possibility of parole after nine years after being convicted of 10 charges related to an armed confrontation over sports memorabilia in a Las Vegas hotel room. He was convicted in 2008.
CNN was unable to immediately reach Simpson or his lawyer for a response.