BEIJING—A U.S. human-rights envoy is scheduled to meet with North Korean officials in Beijing on Wednesday as Washington and Pyongyang hash out the details of their new arms-and-aid deal.

Robert King, U.S. special envoy for North Korean human-rights issues, arrived in Beijing on Tuesday in advance of the talks, which are expected to take place at the embassies of both the U.S. and North Korea in the Chinese capital Wednesday. Mr. King said he will discuss details of the humanitarian aid the U.S. last week agreed to provide as part of the deal.

"I'm looking forward to a positive discussion," he told reporters upon his arrival at the Beijing airport, though he declined to answer questions or give additional information.

U.S. officials said last week that they had reached a deal with Pyongyang under which North Korea agreed to freeze the development of nuclear weapons and permit international inspectors to return to the country. In return, the U.S. agreed to offer 240,000 metric tons of food aid.

The U.S. in the past has expressed concern about how food aid would be distributed in North Korea to ensure it reaches the children and other vulnerable parts of the population.