Kross suffered an adductor injury against Juventus in last season's Champions League quarter-final first leg in April which left him sidelined for the rest of the campaign.
But now back to full fitness and a new coach at the helm, Kroos says he is enjoying the fresh approach the former Barcelona boss has brought to the club.
"Training with Guardiola is good," Kroos told reporters. "He's always talking to each player, trying to give them a vision of the style of football he wants to play.
"I think that with him, every player will have a different task and will have to adapt their game to what he wants. He just has his own style - his own plan.
"He wants to communicate that to each player individually. For some positions, that works better in a one-on-one situation. It's better to do that than talk in front of the whole team."
Bayern go into next season as the first German side to win the treble and kick off their Bundesliga campaign against Borussia Monchengladbach on August 9.