English Verb Origins?

I am going to study.
Voy a estudiar.

That's not quite the same, though, because "voy a" + infinitive is a language construct. The infinitive itself is just "estudiar" and not "a estudiar" (compare "tener que estudiar").

Whereas the infinite in English is "to study" or "to read" or "to run" and not the root word itself.

Another point is that we use the gerund ("studying" "running") rather than the infinitive a lot.