This paper presents a structured, expert-informed framework for inclusive waste management in marginalized urban areas (MUAs), addressing critical challenges at the intersection of environmental governance, infrastructure inequality, and social exclusion. The framework was developed through extensive consultations with 37 international experts and tested through a deployment plan piloted in Reșița, Romania. The framework is adaptable to site-specific realities and is intended to evolve annually based on monitoring and feedback. With a strong focus on community engagement, institutional coordination, and policy alignment, the framework lays out an incremental implementation path. The Reșița pilot demonstrates how targeted, participatory actions—ranging from stakeholder mobilization and tailored education to infrastructure enhancements and policy reforms—can drive sustainable improvements in waste management and civic inclusion. This study contributes to the literature on environmental justice and urban sustainability by providing a dynamic, scalable model that can be customized to diverse socio-spatial contexts.