Kagawa made 125 appearances for Cerezo between 2006 and 2010, scoring 55 goals before moving to Borussia Dortmund.
The game, on July 26, will take place at the 50,000-capacity Nagai Stadium, where England ground out a goalless draw with Nigeria at the 2002 World Cup.
"Manchester United first visited Japan over 20 years ago and our fans have always shown great support for the club," said chief executive David Gill.
"We are all looking forward to returning and playing a great game against Cerezo Osaka."
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