You answer the questions covered on the 6059B on the kiosk, so their is no need for redundant forms. You do not need one for travel from Canada or anywhere else. In fact it is my understanding that you can use NEXUS kiosk in Canada when ENTERING the US.
The CBP (and I) recommend you keep a 6059B filled out with all of the constant information (Name, Passport #, Address), which you can whip out and fill with current information (Value of Goods, Flight #) when needed. This will speed your arrival when the kiosk gives you an X and you have to visit a CBP officer.