Any DB worthy of the name already has (something like) this functionality built in. It is used for rolling back transactions. A similar mechanism (journalling) is also used by most DBMSs for longer term backup & recovery.

Whether either of these is applicable to your requirements might depend upon the time frame between do and undo. If you want to be able undo an action pretty immediately, then wrap it in a transaction and either commit or rollback. For longer term the journalling might work for you.

One question to ask yourself. Do you envisage undoing individual actions, or undoing to a given moment in time?

This is significant, because journalling will only do the latter, because if one action affects a particular piece of data and then another, later action also changes that same piece of data, it becomes impossible to undo the earlier action without affecting the later one.