The leaders said they will soon implement a five -year visa plan for Kenyan business people interested in trading in Namibia.
The plan is expected to eventually lead to a visa free regime between the two countries.
Kenyatta, who is in Namibia for a State Visit, said Kenya is keen to export more products including its famous tea and coffee to the Southern Africa nation.
He said the sizeable Kenyan professional and business diaspora in Namibia has already created a foundation for stronger ties between the two nations.
Kenyatta, who spoke at State House, Windhoek, said the bilateral relations between Kenya and Namibia are founded on shared values and common aspirations.
On his part, President Geingob said talks are at an advanced stage to start direct flights between Nairobi and Windhoek.
“We hope for direct flights from Nairobi to Windhoek and then we can do a lot more in trade and investment,” said President Geingob.
He said the free movement of people will contribute to increased trade and deepen the strong historical ties between the two nations.
President Geingob said Namibia is keen to work more closely with Kenya in manufacturing and value addition especially in the minerals sector.
“Namibia is known for its beef, fish, diamonds and marble stones but we send the marble stones to foreign countries and we buy them back when they are polished,” said President Geingob.
He said Kenya is a leader in digital innovation and Namibia can learn a lot from the East African nation.
The two Presidents later witnessed the signing of an agreement on diplomatic services between Kenya and Namibia.