Sterling, 37, and Castile, 32, were fatally shot by police officers in Baton Rouge, Louisiana, and Falcon Heights, Minnesota, respectively, this week.
"I'm saddened and disappointed in THIS America - we should be further along. WE ARE NOT," he wrote in a statement accompanying the new release
He revealed the song was made at least a year ago, said the Hollywood Reporter.
"Blessings to all the families that have lost loved ones to police brutality," he added.
Five police officers were shot dead and seven others injured in firing by snipers in Dallas during a late night demonstration protesting the fatal police shootings of Sterling and Castile.
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