Urban logistics is a key economic enabler, supporting a wide range of essential services across cities. However, it also generates significant negative impacts, including congestion, emissions, and spatial conflicts—challenges especially acute in small and medium-sized towns with historic centres. In this context, strong local governance is essential to drive sustainable logistics. Municipalities play a central role in shaping spatial and regulatory frameworks. EU tools like Sustainable Urban Mobility Plans (SUMPs) and Sustainable Urban Logistics Plans (SULPs) offer structured guidance that should be integrated into broader mobility and sustainability strategies. Their success depends on local commitment, coordination, and alignment with wider urban policies. The experiences of Lucca, Lisbon, and Zadar—through projects like ENCLOSE, LIFE ASPIRE, and MED-COLOURS—demonstrate how cities can tailor innovative logistics solutions to complex, historic environments. These cases highlight the value of stakeholder engagement, adaptive planning, and integrated governance. Looking ahead, a clear roadmap is needed to scale up these efforts. This paper outlines key steps for cities: define long-term goals, adopt resilient regulations, promote clean and shared logistics models, and use data to inform decisions. By following a stepwise approach grounded in real-world experience and cross-city learning, municipalities can unlock more efficient, inclusive, and low-carbon freight systems that enhance both urban liveability and economic vitality.