Abstract The current global food system has detrimental outcomes for global health, environmental conditions and social inclusion. A coherent vision of a desirable food system can guide a sustainable food system transformation and help to structure political processes and private decisions by quantifying potential benefits, facilitating debates about co-benefits and trade-offs, and identifying key measures for desirable change. Such a transformation requires integrating measures targeting human diets, livelihoods, biosphere integrity, and agricultural management. Here, we apply a global food and land system modeling framework to quantify the impacts of 23 food system measures by 2050. Our multi-criteria assessment shows that a food system transformation can improve outcomes for health, the environment, social inclusion, and the economy. All individual measures come with trade-offs, particularly those targeting agricultural management, while few trade-offs and multiple co-benefits are linked to dietary change measures. By combining measures in packages, trade-offs can be reduced and co-benefits enhanced. We show that a sustainable food system also requires a transformation of the overall economy to stop global warming, reduce absolute poverty, and create alternative employment options. Within the context of a cross-sectoral sustainable development pathway, the food system transformation improves 14 of our 15 outcome indicators.