The news, which was first reported by beverage digest earlier on Friday, sent SodaStream shares rallying as much as 18 percent, while Pepsi shares gained about 1 percent.
SodaStream stressed that the deal was limited and it was not in talks "concerning any other form of broader business collaboration," according to a U.S. filling.
The test will take place in Tampa and Orlando, Florida.
SodaStream's carbonation systems conveniently transfer tap water into carbonated soft drinks and sparkling water, but it has largely underperformed industry leaders Pepsico and Coca-Cola.
SodaStream has declined some 60 percent, year-over-year, while Pepsico and Coca-Cola have gained 14 percent and 6 percent, respectively, over the same period.
Reporting by CNBC's Dominic Chu.