Villa has been out since December after getting injured during the Club World Cup but is now in the squad for Barcelona's friendlies against Manchester United and Dinamo Bucharest.
"He seems in very good shape after such a long and tough injury," Iniesta said.
"It's a joy to see him train, as he is a key player. We hope that he can return to action soon and do what he best knows how to, which is score goals."
Villa has scored 23 league goals for Barcelona.