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.