During three days of negotiations between North and South Korea, the United States, Japan, China, and Russia, the sides also agreed on steps to verify the reclusive communist state's nuclear disarmament.
Under the deal, North Korea will receive one million metric tons of fuel oil by the end of October.
Russian Deputy Foreign Minister Alexei Borodavkin, who leads the Russian delegation at the six-party talks, said: "The results are very positive. We will continue to work on achieving goals" relating to North Korea's denuclearization.
The six nations will hold a working group meeting in the near future to discuss technical details on verifying Pyongyang's compliance with its commitments to end its nuclear program, Borodavkin said.
The working group will have to draw up a detailed protocol on inspections of facilities, specifying which inspectors will take part, and what they will be permitted to do at the sites.
The talks in Beijing were the first six-nation negotiations in nine months. The process was given a boost last month when North Korea gave an inventory of its past nuclear activities, several months after a deadline agreed in a disarmament deal.