The document was signed by Prime Minister Jadranka Kosor and her French counterpart Francois Fillon during his visit to Zagreb.
Fillon, the first French premier to visit Croatia, will take part, together with other officials from Europe, in the Croatia Summit in Dubrovnik on Friday afternoon.
During their meeting in Zagreb, Kosor and Fillon discussed political and economic cooperation, and possibilities to upgrade the system of teaching the French language in Croatia and for Croatian students to study in France.
"We thank France for the support it gives to Croatia in its European Union membership bid," Kosor said, adding that her country was interested in French investments.
"We have always supported Croatia which belongs to Europe and has participated in the building of the European civilisation," the French prime minister said, adding that the prospective admission of Croatia to the European Union would send a strong message to other countries in the region.
He pointed out the Croatian-Slovenian border arbitration agreement as an example of the successful solution of disputes and as the European fashion of settling conflicts.
Fillon said that France would host a festival of Croatian culture in 2012 and invited Kosor to visit Paris this autumn.
Accepting the invitation, Kosor relayed an invitation to French President Nicholas Sarkozy to visit Croatia.