The talks, meant to provide a way out of Venezuela's long-running political and economic crisis, will take place in Barbados.
Maduro, a socialist who has served as president since 2013, is expected to run for re-election but has not yet formalised his candidacy.
His government has banned prominent opposition figures from running.
Maduro's representatives and the opposition are expected to sign an election agreement this week, and the United States would quickly follow that with authorisations related to Venezuela's oil business, according to two people in Washington DC familiar with the matter, speaking on condition of anonymity.
Any US action would come only after Venezuela's opposition and Maduro's representatives sign an agreement under which he commits to a presidential election date and to the lifting of the bans on opposition candidates, these two sources said.
They added that any changes to sanctions would be dependent upon Maduro's follow-through.
The United States is mindful that Maduro has failed to meet previous private and public commitments on holding free elections and is watching closely to be sure he complies with his latest promises, these sources said.
The initial steps by US President Joe Biden's administration would involve only limited sanctions relief for now, the US sources said.
Much of the far-reaching sanctions program imposed by the administration of former US president Donald Trump in 2019 under a "maximum pressure" policy would remain.
Further relaxation of US sanctions would depend on whether Maduro makes further concessions and organises fair elections that meet international standards, the sources said.
The opposition is set to hold a primary to choose its 2024 candidate on Sunday although front-runner Maria Corina Machado is currently banned from holding public office.
Reuters reported last week, citing five sources, that Venezuela and the United States had progressed at their own talks in Qatar toward a deal that could allow at least one additional foreign oil firm to take Venezuelan crude oil for debt repayment if Maduro resumed negotiations with the opposition.
Two of those sources named France's Maurel & Prom, a joint venture partner with Venezuela state-run oil company PDVSA, as a possible recipient of a US "comfort letter".
At the time a Maurel & Prom representative confirmed that the company "made a request to this effect to US authorities" but declined to elaborate.
A US comfort letter would allow a partner of PDVSA to take Venezuelan oil for exports as debt repayment or establish an oil swap deal to settle pending debts and dividends.
The United States imposed sanctions on Venezuela to punish Maduro's government following a 2018 election it considered a sham, lack of democratic guarantees and human rights violations.
Since 2019, US sanctions ban PDVSA from exporting its oil to its chosen markets.
The return to talks between Maduro's government and the opposition was announced in a statement published by Norway, an observer.
They last met in November 2022.
Another US source said a document that is expected to be signed on Tuesday in Barbados would include a date for the election in the latter half of next year and allow international observers.
It would also allow participation of opposition figures who are currently barred from holding office, the source added.
It remained unclear whether all opposition candidates would have their bans lifted.
The opposition considers the bans unlawful.
At least two candidates initially set to run in the October 22 primary have bowed out because they are banned.
The government and opposition last year agreed to the use of $US3 billion ($A4.7 billion) in frozen assets for humanitarian needs, via a United Nations-run fund that is not yet operational.
