Physical activity (PA) is necessary for improving the health of workers in small- to medium-sized enterprises (SMEs). However, behavioral changes conducive to PA are often difficult to achieve despite intentions. Because intention to perform PA does not always translate to action, proper planning may be critical for achieving PA. In this study, we aimed to identify factors related to planning for PA among workers in SMEs because this is one population that has been identified as being at higher risk for lifestyle-related diseases in Japan. Participants completed a series of validated questionnaires. Of 353 valid responses, 226 individuals (149 men; aged 47.5 ± 8.7 years) stated their intention to perform PA. Multiple regression analysis indicated that a higher PA planning score was significantly associated with higher self-efficacy for PA (p < 0.001), higher risk perception regarding inactivity (p = 0.012), and greater knowledge of information about PA community services (p = 0.019). Therefore, we recommend that self-efficacy, risk perception, and information regarding PA community services are enhanced in the daily working lives of workers at their workplaces. In this manner, they can promote their planning of health behavioral changes in a supportive environment, drawing upon available services, supports, and other resources.