Pretty much that's the question. I wanna think that I have heard it used many times ("I've been looking to do that for the longest time"), but now I'm not sure. Thanks!
As John Lawler notes in the comments:
It's a simple matter of a particular sense of a verb gaining the complement pattern of its synonyms. This sense of look means 'look forward/intend/plan', and like these predicates, it takes an infinitive complement. E.g, He's looking/intending/planning to mow the lawn. Look forward, of course, has a connotation of pleasant expectancy, and takes a prepositional phrase (with a gerund) instead of an infinitive: He's looking forward to mowing the lawn.