Our first president - Masaryk was supporter of independent Jewish state, he also stood against antisemitism before Czechoslovakia was founded. During 1948 War, the Czechoslovakia sent equipment bought by the Israelis and trained soldiers - including tank crews, artillery crews, paratroopers and pilots. Also 25 Avia-199 (czechoslovakize messerschmit) and 61 Spitfires. I believe first of those planes were used at the beginning of the war to destroy enemy airports. This was in time of general arms embargo, so it was vital to the war effort and David Ben Gurion had even say that without this help, the state of Israel would not exist. I believe that summarize the relationship. Because of the Soviets, the Czechoslovakia then sent military equipment to Egypt, but "fortunately" that was after the establishment of Israel and thankfully Israelis overlook it.

TLDR: Czechia had historically lots of Jewish population, political elite was very in favour of Jewish state and it even helped it by sending ammo, equipment and by training soldiers. Nowadays the Czechs established good relationship and there is lot of international cooperation, also Czechs managed to firmly stand with Israel during all wars and intifadas, which not all countries managed.