Looking at evidence that modern historians, archaeologists, and researchers are now bringing to light, the answer appears to be yes! The evidence and sources I found to support include:

1. According to Leo Weiner in his book entitled Africa and the Discovery of America, Columbus reported in his journal that the Native Americans confirmed “black skinned people had come from the south-east in boats, trading in gold-tipped spears.” It appears the native Americans described the spearheads as “guanin”, which means “gold” in the Mandinka language – a language of the Mali Empire.
2. Columbus also reported seeing mosque-like buildings when he arrived in America. In fact, the people from the Kingdom of Mali were Muslims, so they may have built mosques while there.
3. African skeletons were discovered in America and studies show that the skeletons are from the 13th century and most likely related to Mansa Abu Bakr’s voyage.
4. The Garifuna people: I came across an episode from the New York Botanical Garden (linked below), where they invited a group of people known as Garinagu. In explaining how they came about, they mentioned the fusion of Africans from the kingdom of Mali with native Americans.