So, are you asking, for example, if the words are "have the intention of playing", can you say, "have an intention to do playing"? No, not in this case or in most but not all others. The problem is that pesky verb "to do". With most -ing forms, the "action" is already implied by the -ing form, so you don't add the action "do".
The verb forms that can be used with do include some that relate to the action done when learning a subject: reading and writing come to mind. Of hand, I can't think if others, but there may be some.