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The Queen will hand out Maundy money to 89 men and 89 women, the first time the service has been held in Sheffield.
Maundy Thursday recognises the service of elderly people to their community and their church.
Dr Croft said it had been a "huge amount of work for several months - in secret".
"There's a real sense of anticipation now, and joy that this is happening in Sheffield this year," he said.
The British monarch's Maundy Thursday service has been held in England since the 12th Century, to mark Jesus washing his disciples' feet.
Dr Croft said it was about expressing practical love for others, especially of the poor.
The Queen's visit was made public in January and has involved preparation from Sheffield Cathedral, the police and city council.
Dr Croft said the 175 recipients of Maundy Money had been nominated locally.
"It's a profound Christian reflection of the command to love one another, at the heart of the city," he said.
"Sheffield Cathedral will become a Chapel Royal for the day, and platters from the Crown Jewels will be brought to carry the Maundy Money."
The service has been held in almost every cathedral in England and some in Scotland and Wales.
BBC Radio Sheffield's Rony Robinson will be reporting on the event on Thursday.
Bishop of Sheffield Dr Steven Croft says preparations are underway for the Queen's visit to the city's cathedral for her Maundy Thursday service.

Fans protested against Duchatelet's ownership of the Addicks both before and after Saturday's draw against Nottingham Forest at The Valley.
"Through Roland's backing we have become financially stable," non-executive chairman Murray said.
"No owner wants to run down a football club - it defies logic."
In a statement posted on the Charlton website, Murray said the club's strategy was to be financially stable, competitive in the Championship and have ambitions of reaching the Premier League.
However, Charlton fans have questioned Duchatelet's motives since his takeover of the club in January 2014; criticising the turnover of managers, the club's player recruitment and comments made by chief executive Katrien Meire.
Supporters were angered when a video emerged of Meire saying it was "weird" fans felt a sense of ownership of the club when "the bills are paid by someone else".
The Addicks are currently 23rd in the Championship, with inexperienced Belgian Karel Fraeye taking on the role of interim head coach since 24 October, when Guy Luzon was sacked.
Charlton fans have held protests directed at Duchatelet and Meire at recent home games, both from the stands and outside the boardroom at The Valley.
Saturday's protest was the largest yet and the Charlton Athletic Supporters' Trust said Murray's statement does not address "the real issues that are prompting the protests".
They added: "The club's soft and pre-prepared answers are clearly designed to influence the media positively, but they are misdirecting readers about the truth of the current situation.
"It's fine that Murray admits the squad isn't good enough and that two years after Duchatelet took over the club is still underestimating the Championship.
"But it's somewhat indefensible - it's the result of the owner's plans and Katrien Meire's execution of them."
Murray defended Duchatelet's financial approach - pointing to a 40% increase in the playing budget, tying players to long-term contracts and investment in the stadium.
"Roland's philosophy is that we should try and keep our losses to a reasonable level," Murray added.
"The strategy is to have a mix of academy-produced players, young overseas talent with some experienced British players.
"This is a very competitive league and we have put a little too much faith in our overseas players to suddenly come in and play 46 games a year."
Murray also admits the club need to improve their communications with supporters.
"The board accepts it's not been as good as it could and they are taking a number of steps to improve that," he said.
"But it's important to realise that no football club gets all things right."
Charlton director Richard Murray insists owner Roland Duchatelet is committed to the club but the Belgian has "underestimated" the Championship.

Wednesday's figures are in effect a printout from the computer database run by Operation Hydrant - the national police team which has the task of co-ordinating investigations into what it calls non-recent child abuse.
They make plain that the police have a new and growing type of crime to deal with.
Historical child abuse may have happened decades ago, but it is growing, because it is only being reported to police now.
Non-recent cases are predicted to have risen 165% by the end of this year compared to 2012.
The increase is much less, 31%, for cases which happened within the past 12 months - though they are still greater in number.
Why? In the 20th Century it was not unusual for children disclosing abuse to be disbelieved, and even laughed at.
Among police officers there was often a view that a single allegation of abuse had to stand up on its own.
Successful prosecutions of abusers in recent years have been built on a different strategy - corroborating the stories of many victims.
Sheer weight of numbers persuading juries.
Lawyers who deal with abuse cases say in the past, naming a well-known person as a paedophile would make it far more likely the case would go nowhere.
There is plenty of evidence now of a major shift in thinking among police forces.
So much so that the police can now reveal they are now investigating 261 prominent men. (And they are all men.)
In recent years celebrities have been jailed, former military chiefs have been questioned, and teams of officers have been sent to search the homes of household names.
In December a senior Metropolitan Police officer overseeing the investigation into the allegations of a man in his 40s of abuse at the highest levels of society, said the story was "credible and true".
It was a controversial statement and critics have begun to talk of a witch hunt, but the Met has not withdrawn it, and among other statements, it demonstrates the desire among police to be seen to be taking abuse survivors' stories seriously.
Yet investigating this sort of abuse is tough.
More than 1,400 suspects, including politicians and celebrities, have been investigated by police investigating historical child sex abuse allegations.
The figures were revealed by Operation Hydrant, set up by the National Police Chiefs' Council.
It explores links between child sex abuse by "prominent public persons".
Of the 1,433 suspects identified, 216 are now dead and 261 are classified as people of public prominence, with 135 coming from TV, film or radio.
Modern detective work often relies on the digital trail that follows us all around - mobile phone records, CCTV images and online behaviour.
None of that is available to the abuse investigations.
Victims' accounts will lack detail - because of the age of the victim when it happened and the time that has passed since.
Many will be unable to discuss what has happened to them.
When the subject of the allegation is famous, investigators always have to question whether the fame has unfairly attracted the accusation.
Police forces tend to take a "'slowly but surely" approach, but they still need lots of cops to do the job.
One change in society has helped. The number of what might be termed 'old-style crime' - burglaries, robberies and violent crime have fallen.
Simon Bailey, the chief constable of Norfolk, who leads Operation Hydrant said his own force only deals with about four burglaries a day, so resources can be reallocated.
That can pose its own problems.
Grizzled murder squad detectives may not easily transfer to the job of teasing out a story of prolonged childhood abuse from a victim.

It started with Jimmy Savile, who knows where it will end?

