Following up on the report from Singaporean news outlet TODAY, Bayern Munich have officially confirmed that they will be going on a pre-season tour of China and Singapore, and will play matches against Arsenal, Chelsea, AC Milan and Inter Milan.
Travelling under the motto "Visiting Friends", the German juggernauts will begin their journey by beating Arsenal 5-1 again in Shanghai on July 19th. They will then face AC Milan on July 22th in Shenzhen before heading to Singapore where they will meet Chelsea three days later, and finish the tour against Inter Milan on July 27th.
We should probably expect Chelsea to announce a similar pre-season schedule at some point soon. A friendly against Arsenal has already been confirmed for July 22nd in Beijing, while Bayern have now confirmed a match against Chelsea for July 25th. Presumably, Chelsea will also play Inter Milan, as rumored in the recent local reports from Singapore, while it would only make sense to play AC Milan as well, since this all seems to be part of one friendly tournament (quiet likely part of the 2017 International Champions Cup).
Chelsea last played Bayern in the 2013 UEFA Super Cup, losing on penalty kicks a year after winning the Champions League in a similar manner.