I seem to remember reading somewhere that Snoke was something on the order of 1000 years old. Yoda blew out (at least) 900 candles on his last cake. It seems like there would've been plenty of opportunity for them to cross paths.
Perhaps Snoke was even Yoda's apprentice at some point and did the all-too-frequent turn to the dark side.
There is no canon information on that as of this point.
As a matter of fact, we don't know if Snoke is old (assuming he watched G.E. rise as an adult, at least 70), the only thing we know for certain is that he predates the Galactic Empire:
“Kylo Ren, I watched the Galactic Empire rise, and then fall. The gullible prattle on about the triumph of truth and justice, of individualism and free will. As if such things were solid and real instead of simple subjective judgments. The historians have it all wrong. It was neither poor strategy nor arrogance that brought down the Empire. You know too well what did.”
(TFA novelization)
There is a theory circling around out there that Snoke is actually Darth Plagueis. If this turns out to be true, it's very likely that Yoda did know of him.
Other than speculation like that, there's no established canon on the subject.
