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The transition of heavy-duty transportation towards sustainable energy systems is critical for achieving global climate goals. This study presents a techno-economic analysis of retrofitting diesel-powered heavy-duty vehicles (HDVs) for hydrogen co-fueling. We evaluate technical feasibility, economic viability, and environmental impacts based on current technologies, simulations, and real-world case studies. Results suggest that hydrogen co-fueling retrofits can lead to substantial reductions in greenhouse gas emissions, with an investment payback time of less than five years under favorable conditions. Major barriers include hydrogen supply infrastructure, retrofitting costs, and regulatory challenges. Policy recommendations are proposed to accelerate market adoption and maximize environmental benefits.