Yes. The contraction of TE+OKU and DE+OKU is TOKU and DOKU. They would conjugate just like "OKU" (to place/put) - OKIMASU, OKANAI, etc. in all cases when you would need to conjugate it.
TSUMORI only implies intention, but TE-OKU implies that an action is taking place to PREPARE for a future action. Your examples don't really seem to have that much of a difference:
A: 明日試験があるので今晩勉強しておきます - Because there is a test tomorrow, I will study for it (to prepare for it.).
B: 明日試験があるので今晩勉強するつもりです - Because there is a test tomorrow, I intend to study for it.
Let's look at the past:
昨日の試験合格できました!ちゃんと勉強しておきましたから。- I passed yesterday's test because I studied for it properly.
昨日の試験失敗しました。勉強するつもりだけど、友達と遅くまで出かけるようになりましたから… I failed yesterday's test. I intended to study but I wound up staying out late so....
TSUMORI only implies intention and it isn't as "serious." Since TE+OKU has a sense of doing something for the future and maintaining that for the future, the utterance seems like it takes more foresight and planning.