One of the greatest challenges today is to end hunger and poverty while making agriculture and food systems sustainable. The challenge is daunting because of continued population growth, profound changes in food demand, and the threat of mass migration of rural youth in search of a better life. This report presents strategies that can leverage the potential of food systems to become the engine of inclusive economic development and rural prosperity in low-income countries. It analyses the structural and rural transformations now under way, and examines the opportunities and challenges they present to millions of small-scale food producers. It shows how an “agroterritorial” planning approach, focused on connecting cities and towns and their surrounding rural areas, combined with agro-industrial and infrastructure development can generate income opportunities throughout the food sector and underpin sustainable and inclusive rural transformation.