Through the Urban Resilience to Extremes Sustainability Research Network (UREx SRN), we engage with local stakeholders in cities across North and Latin America to develop participatory scenarios of sustainable, resilient futures to guide urban transformation. Exploring diverse future scenarios opens a space for positive long-term solutions with social-ecological-technological innovations and transformational change. We present a framework for co-developing transformative scenarios to explore sustainable, resilient futures and tradeoffs among the scenarios based on qualitative modeling and multi-criteria assessments. We highlight how co-producing scenarios of positive futures can link visions to action and enhance capacity for long-term transformative change in cities.