Yes. Hebrews 4:3 tells us that “the works were finished from the foundation of the world.” Revelation 13:8 speaks of “the Lamb slain from the foundation of the world.” The foundation of the world is a phrase speaking of the creation of the world.
The gospel notes that His crucifixion has been planned. Note the phrase, “according to the scriptures”:
“For I delivered unto you first of all that which I also received, how that Christ died for our sins according to the scriptures; And that he was buried, and that he rose again the third day according to the scriptures:” (1 Corinthians 15:3-4).
His death, burial, and resurrection was the spiritual solution to a spiritual problem, sin. “According to the scriptures” means that the Old Testament has already mentioned His death and resurrection. It was God’s plan all along. Examples of this would be Psalm 22:1-18 (account of Jesus on the cross), Psalm 16:9-11 (Jesus would not stay in the grave).
You can see a list of important prophecies that alert us to the coming of Jesus here:
https://jewsforjesus.org/answers/top-40-most-helpful-messianic-prophecies/ (in this case, a prophecy is God announcing the coming of His Son in advance).
