Soil compaction between crop rows can increase a machine’s performance by reducing rolling resistance and fuel demand. Controlled Traffic Farm (CTF) stands out among modern techniques for increasing agricultural sustainability because the machines continuously travel along the same path in the field, reducing plant crush and compacting the soil in the traffic line. This study evaluated fuel consumption and CO2 emissions at different CTF intensities in different soil management strategies for soybean crop. The experimental design involved randomized blocks in a split-plot scheme with four replications. The plots constituted the three types of soil management: conventional tillage, no-tillage with straw millet cover, and no-tillage with brachiária straw cover. The subplots constituted for agricultural tractors were passed over in traffic lines (2, 4, and 8 times). We evaluated agricultural tractor fuel consumption, CO2 emissions, and soybean productivity. The straw cover and tractor-pass significantly affected the fuel consumption and greenhouse gas emissions of the soybean cultivation. Fuel consumption and CO2 emissions were reduced due to the machine-pass increase, regardless of soil management. Thus, a CTF reduces rolling resistance and increases crop environmental efficiency. Bare-soil areas increased by 20.8% and 27.9% with respect to fuel consumption, compared to straw-cover systems. Brachiária straw and millet reduce CO2 emissions per hectare by 20% and 28% compared to bare soil. Lower traffic intensities (two passes) showed (13.72%) higher soybean yields (of 4.04 Mg ha−1). Investigating these effects in other types of soil and mechanized operations then becomes essential.