It could be said that the Crusades indirectly led to the European "discovery" of America in three ways.
First, the Crusades led to the revival of trade for luxury goods from the East. Although the Silk Road had been bringing Asian goods, particularly spices, to European markets for centuries, the Crusades complicated trade. It led to various Italian states, particularly Venice, dominating the Mediterranean trade. Furthermore, war with the Muslims disrupted the supply chain in the Near East. Muslims made up the bulk of Silk Road traders and middlemen. War is never good for commerce, and during times of conflict, the supply from these Muslim traders came to a halt. It was a search for more direct sea routes to Asian markets that initially motivated the exploration that took Europeans (inadvertently) to the Americas.
Secondly, when the Crusaders were not fighting Muslims, they were learning from them. The Arabs had...
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long utilized the triangular sail. This seafaring technology allowed their ships to sail more efficiently. They also had improved navigation technology, such as the magnetic compass, astrolabe, and better cartography techniques. European Crusaders took this technology back with them. It is likely without the incorporation of Arab maritime technology, European ships would have been less likely to successfully sail across the Atlantic.
Lastly, the Crusades whipped up a large degree of religious zeal in Europe. While it was not a primary motivation of the explorers, many hoped to spread their faith to the lands they discovered.
The Crusades brought Europeans into contact with different cultures in the Middle East. These cultures enjoyed spicier foods than what was common in Europe at the time, and many Europeans returned from the Crusades craving Eastern spices. This drove the desire for a spice market and encouraged Europeans to start looking for better ways to reach China. This would ultimately lead to Columbus's attempt to reach China, which did not quite meet its goal.
The Crusades also brought about a new sense of religious fervor. Many Europeans hoped to find the Christian kingdom of Prester John during the Crusades. This never materialized, but they hoped that there were Christian kingdoms elsewhere. As the fight between religious sects in Europe heated up, many Europeans hoped to bring Christianity to Asia whenever they did their trading. When the New World was discovered, missionary work became nearly as important as trade. The Spanish, French, and English were looking for converts that could come in handy in the event of a religious war.