Zaha, 21, joined the Red Devils for £15 million after guiding the Eagles to the Premier League last year.
However, his dream move has not borne fruit with only two starts before being loaned to Cardiff City.
Now Warnock, given the nod as Palace manager on Wednesday, is keen to bring Zaha back to south east London on a season-long loan.
He told Talk Sport: “I did speak to him last night. I spent half an hour telling him why I want him to come back and I'm optimistic we are going to do it today [Thursday]."
He added: "When you get the chance, you can't turn down Manchester United but there are so many big players there and sometimes you get a bit lost.
"He is still developing and he has got so much talent. When you are a wide player, or a forward, you need to feel loved.
"I've heard it said about his attitude, but I've always thought his attitude has been spot on, so I'm looking forward to working with him."
Whether Zaha will be in place for the Newcastle United match in unlikely, but Warnock hopes to have the move wrapped up ahead of Monday’s transfer deadline.
He said: “Zaha trained with us today [Thursday] and we are just finalising insurance documents so he’ll be ready for the game against Burnley."