Was there a Risk-type agreement (allies until mutual enemies are dead) or was there a more shared power vision? Did they plan to keep their conquering to one side of the Atlantic?
Visions of Victory by Gerhard Weinberg, covers this pretty well.
The closest they ever got was a late 1941 agreement that divided Asia into zones of interest. The Germans were assigned everything west of 70 degrees East; the Japanese were to get everything east of the line. In practice any eventual division would have likely been re-negotiated. The Wehrmacht for example suggested that they give up their portions of India and Afghanistan in exchange for more in Russia.
There was never any plan on dividing anything else, no discussion over the Americas for example. And there doesn't seem to be any evidence that anyone was seriously considering that the Axis was ever going to expand across oceans.