It's "normal," due to the PCV system which allows oil to accumulate in the intake manifold. Every so often the engine will let a puff of blueish smoke out the pipes due to the excess oil...
edit - Whoops, I misread and thought it was blue smoke (since more than a handful of '01 owners have documented the "puff" of blue smoke at start-up).
The white smoke you are experiencing at start-up is probably nothing more than condensation. If it continues to smoke (ie - once fully warmed up), and smells "sweet" (think: antifreeze), the white smoke *could* indicate a possible head gasket problem (although rare on these DOHC engines).