diff --git a/CHANGELOG.md b/CHANGELOG.md
index ba4497f10bc..fc2ea4804a3 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -52,6 +52,7 @@
 -   Fix alpha shape reconstruction if alpha too small for point scale (PR #6998)
 -   Fix render to depth image on Apple Retina displays (PR #7001)
 -   Fix infinite loop in segment_plane if num_points < ransac_n (PR #7032)
+-   Copy UV coordinates from a reference mesh #6740
 
 ## 0.13
 
diff --git a/cpp/open3d/geometry/TriangleMesh.cpp b/cpp/open3d/geometry/TriangleMesh.cpp
index 390557f762b..99515ef1724 100644
--- a/cpp/open3d/geometry/TriangleMesh.cpp
+++ b/cpp/open3d/geometry/TriangleMesh.cpp
@@ -159,6 +159,82 @@ TriangleMesh &TriangleMesh::ComputeAdjacencyList() {
     return *this;
 }
 
+TriangleMesh TriangleMesh::InterpolateTextureCoordinatesFrom(
+        const TriangleMesh &input_mesh) {
+    KDTreeFlann kdtree(input_mesh);
+
+    // Custom equality function for Eigen::Vector2d
+    struct Vector2dEqual {
+        bool operator()(const Eigen::Vector2d &v1,
+                        const Eigen::Vector2d &v2) const {
+            return v1.isApprox(v2);
+        }
+    };
+    using vector2d_set =
+            std::unordered_set<Eigen::Vector2d,
+                               utility::hash_eigen<Eigen::Vector2d>,
+                               Vector2dEqual>;
+
+    // Maps vertex index to set of uvs in input mesh
+    std::unordered_map<int, vector2d_set> vertex_to_uvs;
+    for (size_t i = 0; i < input_mesh.triangles_.size(); i++) {
+        const Eigen::Vector3i &triangle = input_mesh.triangles_[i];
+        for (int j = 0; j < 3; j++) {
+            int vertex_idx = triangle[j];
+            auto uv = input_mesh.triangle_uvs_[i * 3 + j];
+            if (vertex_to_uvs[vertex_idx].find(uv) ==
+                vertex_to_uvs[vertex_idx].end()) {
+                vertex_to_uvs[vertex_idx].insert(uv);
+            }
+        }
+    }
+
+    auto distance = [](const Eigen::Vector2d &v1, const Eigen::Vector2d &v2) {
+        return (v1 - v2).norm();
+    };
+
+    // Gets the uv coordinates combination that are closest to each other (one
+    // uv coordinate from each set), given 3 uv sets corresponding to each
+    // vertex of a triangle
+    auto get_best_uvs = [&distance](const vector2d_set &uvs1,
+                                    const vector2d_set &uvs2,
+                                    const vector2d_set &uvs3) {
+        std::vector<Eigen::Vector2d> best_uvs{Eigen::Vector2d(0, 0),
+                                              Eigen::Vector2d(0, 0),
+                                              Eigen::Vector2d(0, 0)};
+        if (uvs1.size() == 0 || uvs2.size() == 0 || uvs3.size() == 0)
+            return best_uvs;
+
+        double minimum_distance = std::numeric_limits<double>::max();
+        for (auto &uv1 : uvs1) {
+            for (auto &uv2 : uvs2) {
+                for (auto &uv3 : uvs3) {
+                    auto aggregate_distance = distance(uv1, uv2) +
+                                              distance(uv2, uv3) +
+                                              distance(uv3, uv1);
+                    if (aggregate_distance < minimum_distance) {
+                        minimum_distance = aggregate_distance;
+                        best_uvs = {uv1, uv2, uv3};
+                    }
+                }
+            }
+        }
+        return best_uvs;
+    };
+
+    // Writes the uvs to the triangle mesh
+    for (const auto &triangle : triangles_) {
+        auto best_uvs = get_best_uvs(vertex_to_uvs[triangle(0)],
+                                     vertex_to_uvs[triangle(1)],
+                                     vertex_to_uvs[triangle(2)]);
+        for (auto &uv : best_uvs) {
+            triangle_uvs_.push_back(uv);
+        }
+    }
+
+    return *this;
+}
+
 std::shared_ptr<TriangleMesh> TriangleMesh::FilterSharpen(
         int number_of_iterations, double strength, FilterScope scope) const {
     bool filter_vertex =
diff --git a/cpp/open3d/geometry/TriangleMesh.h b/cpp/open3d/geometry/TriangleMesh.h
index 1da782fd9b6..79942dc06d4 100644
--- a/cpp/open3d/geometry/TriangleMesh.h
+++ b/cpp/open3d/geometry/TriangleMesh.h
@@ -149,6 +149,14 @@ class TriangleMesh : public MeshBase {
     /// This function might help to close triangle soups.
     TriangleMesh &MergeCloseVertices(double eps);
 
+    /// \brief Function to interpolate UVs from input mesh to this mesh.
+    /// UVs are interpolated from the UVs of the closest vertices
+    /// in the input mesh.
+    ///
+    /// \param input_mesh The input mesh from which UVs are interpolated.
+    TriangleMesh InterpolateTextureCoordinatesFrom(
+            const TriangleMesh &input_mesh);
+
     /// \brief Function to sharpen triangle mesh.
     ///
     /// The output value (\f$v_o\f$) is the input value (\f$v_i\f$) plus
diff --git a/cpp/pybind/geometry/trianglemesh.cpp b/cpp/pybind/geometry/trianglemesh.cpp
index 4c046d5871b..3586ba658b1 100644
--- a/cpp/pybind/geometry/trianglemesh.cpp
+++ b/cpp/pybind/geometry/trianglemesh.cpp
@@ -103,6 +103,12 @@ void pybind_trianglemesh_definitions(py::module &m) {
                  "function might help to "
                  "close triangle soups.",
                  "eps"_a)
+            .def("interpolate_texture_coordinates_from",
+                 &TriangleMesh::InterpolateTextureCoordinatesFrom,
+                 "Function to interpolate texture coordinates from another "
+                 "triangle mesh. Texture is interpolated from the UVs of the "
+                 "closest vertices in the input mesh",
+                 "input_mesh"_a)
             .def("filter_sharpen", &TriangleMesh::FilterSharpen,
                  "Function to sharpen triangle mesh. The output value "
                  "(:math:`v_o`) is the input value (:math:`v_i`) plus strength "