The two European heavyweights meet at a finals for the first time in 28 years at the Maracana.
Bayern Munich star Kroos was complimentary of the French, particularly in midfield, where they have the likes of Paul Pogba and Yohan Cabaye, but has no worries about Germany reaching the last four if they perform at close to their peak.
"France have a very strong midfield but if all of us deliver our best performance, then I believe we are the better team," Kroos told reporters.
"But we have to show that. It's going to be very important for us to have possession and to win the duels. Then, I believe we will really have a good opportunity to win."
Kroos has denied speculation that he has agreed to join Real Madrid after the World Cup.