Yes, many laws require a proof of criminal intent, although the nuances of that can be tricky.
Classic example: a convicted felon named Bob is charged with possessing a firearm while a felon. You are the prosecutor. You must prove the following to establish intent:
Bob knows he is a felon (typically trivial).
Bob knows he possessed the object at issue.
Meanwhile, you don’t need to prove these:
Bob knows felons can’t possess firearms.
Bob knows the object at issue is a firearm.
Because US law defines many things as “firearms” which zero people would agree count as firearms in common parlance, number 4 is a very common reason to go to jail. For example, spent shell casings count as firearms, legally, so you can go to prison for possessing a lamp incorporating a spent shell casing into the design for aesthetic purposes.