The northern city of Manbij is held by the People's Protection Units (YPG) Kurdish militia.
US officials were in Ankara on Friday as part of a working group on Syria. After talks with Turkish counterparts, the statement was issued by the Turkish foreign ministry and the US embassy in Ankara.
"The two sides outlined the main contours of a roadmap for their further cooperation in ensuring security and stability in Manbij," the statement said, giving no further detail, Daily Mail reported.
The working group was established to try to resolve the Manbij issue and coordinate US-Turkey efforts in Syria after Turkish Foreign Minister Mevlut Cavusoglu and then US Secretary of State Rex Tillerson met in February.
Cavusoglu is due to meet the new US Secretary of State Mike Pompeo in Washington on June 4.
According to the joint statement, the two men will "consider the recommendations" of the working group during their meeting.
Reporter's code: 50101