Legumes offer valuable agricultural and nutritional properties to face the urgent need for food system changes. To eco-design legume-based products, the value chains need to consider the constraints of their stakeholders, from farmers to consumers. This article describes an eco-innovation approach combining collaborative value mapping with KCP® workshops to design sustainable legume-based foods. This eco-innovation approach led to the emergence of expected concepts linked to the properties of products and more disruptive concepts related to dynamics in the value chain. Existing knowledge and knowledge gaps were identified. The results highlight the value of articulating value mapping and KCP® workshops. The approach proved to foster innovative, systemic solutions that consider both stakeholders’ needs and sustainability.