Lithium (Li)-ion battery cells suffer from significant performance degradation at subzero temperatures. This paper presents a predictive control-based technique that exploits the increased internal resistance of Li-ion cells at subzero temperatures to increase the cell's temperature until the desired power can be delivered. Specifically, the magnitude of a sequence of bidirectional currents is optimized such as to minimize total energy discharged. The magnitude of current is determined by solving an optimization problem that satisfies the battery manufacturer's voltage and current constraints. Drawing bidirectional currents necessitates that a temporary energy reservoir for energy shuttling, such as an ultracapacitor or another battery, be available. When compared with the case when no penalty on energy withdrawn is imposed, simulations indicate that reductions of up to 20% in energy dispensed as heat in the battery as well as in the size of external storage elements can be achieved at the expense of longer warm-up operation time.