In medium-sized cities in developing countries, transit services without dedicated lanes have issues related to route compliance, schedules, speed control, and safety. An efficient way for dealing with this issue is the use of Information and Communication Technologies (ICT), to implement a Fleet Management and Control Systems (FMCS). Such implementation can be performed using Intelligent Transportation Systems (ITSs), which allow integration of services and adequate standardization. This article features: (a) a literature review, related to FMCS based on ITS and enabling technologies, (b) design of the ITS architecture of an FMCS, and (c) some advances in the development of the proposed FMCS in a Colombian city (Popayán). The results of the literature review allowed identifying the most important requirements of FMCS in order to design the ITS architecture and build a prototype featuring the suggested technologies. Finally, some experiments were performed to evaluate the operation of the developed prototype. The results showed evidence of adequate operation in sending and receiving messages from and to four prototypes developed for the vehicles, also complying with the established requirements of location, tracking, exchanged data, and security. This allows continuing the development of the proposed FMCS, with some adjustments.