The Serbian side are pitted against Arsenal, FC Koln and Belarusian champions BATE Borisov in Group H.
Belgrade made it to the group phase after eliminating Cukaricki and Krasnodar in the preliminary and playoff stage respectively.
Arsene Wenger's men failed to qualify to the Uefa Champions League for the first time in over a decade, after finishing outside the top four last season in the Premier League and had to settle for the Europa League.
“As you know, it is a tough group but we will do everything possible to qualify to the next stage ahead of Arsenal, just as we did in the qualifiers,” Frimpong told FootballmadeinGhana.
“We will prepare very well and take it [the tournament] game after game as we seek to [defeat them] and qualify to the knockout phase,” he added.
Aside Frimpong, Richmond Boakye Yiadom is another Ghanaian at Belgrade, and the latter scored six goals in the qualifiers to help the Serbian club.