Before implementing an Urban Freight Transport (UFT) solution, certainty is required about the effectiveness of the considered alternatives. Selecting an effective solution necessitates the engagement of all stakeholders involved in the management of the UFT system. The aim of the study is the formulation of a common assessment platform for facilitating the selection of the most appropriate UFT solution, taking into account the solutions’ effectiveness and the stakeholder perceptions and consensus. Solution maturity, social acceptance, and user uptake, which are considered as the main drivers of stakeholders’ engagement, are evaluated based on a real time Delphi survey, in parallel with solutions’ sustainability dimensions (economy and energy, environment, society, transport, and mobility). The Delphi method emerges as a suitable tool in this direction as stakeholders’ subjective judgments, and not analytical techniques, are required. The platform is demonstrated through the assessment of ten UFT solutions by 184 stakeholders (public authorities, supply chain operators, and other interested groups) who reside in cities across the world. The results of the demonstration showed that Intelligent Transportation Systems (ITS) for freight monitoring and electric vehicles are the highest rated solutions, while drone deliveries are the lowest, reaching respectively the highest and lowest consensus levels.