So, this question is probably a bit too broad, since 'African' is a huge category, and Asia ranges from very near Africa (connected, in the Suez) to very far away (e.g. Japan). 'Any' influence is also a bit nebulous, as obviously, there have been Africans and Asians interacting with each other, so they must have had *some* influence on each other, but presumably you mean an influence of a certain magnitude. This is just to clarify why this question might be a bit hard to approach, especially given the standards of this sub.

Anyways, the answer is yes, but I can only provide a limited number of examples, mostly based upon my own familiarity with the Horn of Africa.

1. in the 520s, King Kaleb of Aksum (ancient predecessor of modern Ethiopia/Eritrea), in response to supposed atrocities against churches and Christians there, invaded the kingdom of Himyar, in the Arabian peninsula. They only directly controlled the kingdom for a short perdiod (c. five years) but later established it, at least for a while, as a tributary state.
2. Since the question was about Africans, not about African countries, a very prominent example would be the prominent Africans/Ethiopians who served as high officials and also rulers in India. Malik Ambar was born near modern Harar, Ethiopia, sold as a slave when a child, and served as regent and raised a large army for the Nizamshahi in the 17th c..
3. There is a significant social group in India of African descent called the Siddis, which have been important in various periods, especially for their participation in military affairs.
4. Under the name Habshi (presumably from Habesha, how highland Ethiopians refer to themselves), African court eunuchs held high positions that could not be entrusted to those who had connections in the nobility. In at least one case, these high officials rebelled, when in 1487 the palace guard assassinated the ruler of Bengal and became Sultan, only to be murdered a year later by another African eunuch who was loyal to the former dynasty, who ended up himself ruling for seven years.
5. Not Ethiopia related, but the Fatimid Caliphs, in Egypt, held sway over much of Arabia as well as North Africa.
6. A couple of examples that are so far outside of my competence that I could not explain much:
   1. As major producers of Arabic-language content, Egyptians have an outsized cultural influence, including within a global Muslim community
   2. African soldiers fought for their colonial suzerains in Asia in WW2.

Hopefully, others can chime in with examples from their own specialties.