Brazil are chasing an unprecedented fourth-straight victory in the competition, though they were made to work for their place in the showpiece by a battling France side in the day's first semi-final.
The holders went a set ahead on two occasions only to be dragged back by the French, but they landed the decisive blow in the fifth to run out 25-18 23-25 25-23 22-25 15-12 winners in front of a capacity crowd at the Spodek Arena.
Ricardo Lucarelli led the South Americans' challenge as he top scored with 22 points.
"All tournaments are special for us and all the finals are also special," Brazilian captain Bruno Rezende said after the match.
"Tomorrow [in the final] we want to make history making everything possible to put the name of Brazil in the history of volleyball.
"It is our chance to do something that never has been done before."
Brazil will head into the decider as the favourites, but they are sure to face stiff competition - and partisan support - from the hosts, who looked in fine form as they defeated Germany in the second semi.
The Poles raced into a two-set lead before being temporarily dragged back by the Germans, but in the end they proved too strong as they triumphed 26-24 28-26 23-25 25-21 - with Mariusz Wlazly contributing 22 points, 18 of which came on the spike.
Meanwhile, Russia needed just three sets to see off Iran and claim fifth place in the tournament courtesy of a 25-19 25-21 25-18 victory.