You can, actually.
There's an entire chapter on it in Exploring the World of Lucid Dreaming, though you may have noticed it as being schemas and such. Even so, the concepts there can be applied to your own goals and wants in Lucid Dreams.
As for writing them down before hand? That's actually a key role. That means you're motivated. You have intent. The more defined, the better. As long as you have the will, and want, then it's possible. It's essential to want to act out your scenes, because that will play a role into developing dream control. Doing it before hand will help you improve this much more quickly (at least in my opinion) because you've set up and clearly defined an exact goal or something you want to happen. It's all about want and will.
Keep in mind, however, that the method that you use will affect whether or not you will start off in that dream scenario. Although your will will be there, it could easily be lost in the transition to sleep if you're doing a MILD or DILD, while with a WILD (at least from my experience), since you're directly transcribing that thought into the forming world, it will more than likely start off the way you want it (for the most part).
Also, when writing down your little plot, be sure to be as defined and exact as possible, and maybe experiment with length of what you're writing. Although I've personally never done anything like this (I prefer to go along with the dream), I would assume you would want to be concise, but not be so brief that there's also little outside of the first scene. Keeping it too long, however, I would assume would cause you lose some of that in transition. I wouldn't know. I'm not an expert in this, but I can guess, I guess.
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