The 42-year-old will take over at the Allianz Arena at the end of the season, having agreed to a three-year contract with the German club.
"The philosophy at Bayern is very similar to ours," Iniesta told Bild.
"They want much ball possession and the quality of their players is also very high.
"It will not be difficult for him to succeed. He is going to be coaching a big club and with the intention of doing things well. I have no doubt that he will succeed."
Guardiola won 14 trophies in four years at Camp Nou between 2008 and 2012.