The very short answer to this question is yes.

Roosevelt anticipated at the very least that Hitler would be trouble from the very beginning. He instructed the American representative in Geneva to say that if there was a threat to peace that the U.S. would cooperate in collective efforts to restore it. FDR also wanted to embargo all arms sales to nations deemed aggressive, such as Nazi Germany, but the very isolationist Congress blocked this and forbade the President from discriminating between aggressors and victims of aggression when it came to such an embargo. After Congress also stymied his efforts to join the World Court, Roosevelt backed off for a time, telling people, "The wind everywhere blows against us". Roosevelt decided from that point on not to press the isolationists (many whose votes he needed for his domestic policies) unless the threat really became severe. FDR privately wanted to send arms and support to the left wing Spanish Republicans during the Spanish Civil War, but joined forces with Britain and France in remaining neutral. His efforts here were also complicated in that most American catholics were pro-Nationalist/pro-Franco. When it became clear that the Nazis and Mussolini were aiding the Nationalists, Roosevelt formed a plan to discreetly sell arms to the Republicans, but before arrangements could be made it was already obvious that the Nationalists had won and it would be a wasted effort. He later told people that it was his biggest mistake as President not to aide the Republicans from the start.

FDR didn't contemplate a war plan again until the 1938 Munich Agreement. He quietly had been building up the navy ever since the Japanese had invaded China (although larger expansion wouldn't begin until 1940) and he saw the Munich Agreement (rightly as it turned out) as a delaying tactic rather than a real peace agreement and he immediately asked Congress to repeal the Neutrality Act in light of Hitler's actions when he eventually flouted the agreement. This was of course defeated, but it didn't stop him from massively increasing aircraft production (particularly B-17 bombers).

When Paris realized that their air forces were vastly inferior to the Nazis, Roosevelt made an agreement to secretly sell them aircraft while the French frantically attempted to catch up. Only 200 of the 555 aircraft had arrived in France before the surrender, so Roosevelt sent the remaining planes to Britain (and did they ever need them). FDR did resist actually building up the number of armed forces though, against the advice of his Secretaries of War and the Navy, who favored a rapid expansion of manpower. Roosevelt did not want to provoke the isolationists too much before the 1940 election, but his hand was essentially forced in September 1940 when the Germans and Italians signed the Triparte Alliance with Japan and the first draft commenced. FDR's actions seemed to anticipate that war was coming from the minute he got into office, but most of his early efforts were stymied by isolationist sentiment.

Some of the sources used:

George C. Herring's "From Colony to Superpower"

Frederick Marks' "Wind Over Sand"

Dominic Tiereny's "FDR and the Spanish Civil War: Neutrality and Commitment in the Struggle That Divided America"

Jean Edward Smith's "FDR"

Edited a typo