Given the search for new solutions to better prepare cities for the future, in recent years, urban agriculture (UA) has gained in relevance. Within the context of UA, innovative organizational and technical approaches are generated and tested. They can be understood as novelties that begin a potential innovation process. This empirical study is based on 17 qualitative interviews in the U.S. (NYC; Philadelphia, PA, USA; Chicago, IL, USA). The aim was to identify: (i) the most relevant areas of learning and innovation; (ii) the drivers of innovation; (iii) the applied novelties and their specific approach to overcoming the perceived obstacles; (iv) the intrinsic challenges that practitioners face in the innovation process; and (v) the novelties’ potential to contribute to sustainability and societal change. As the results of the study demonstrate, learning and innovation in UA occur predominantly in four areas, namely, “financing and funding”, “production, technology and infrastructure”, “markets and demands” and “social acceptance and cultural learning”. The described novelties include approaches to enhance the positive impacts of practicing agriculture within urban areas, and some of them have the potential to contribute to societal change and open up opportunities for social learning processes.