This book constitutes revised selected papers from the 6th International Workshop on Structures Object-Oriented Formal Language and Method, SOFL+MSVL 2016, held in Tokyo, Japan, in November 2016. The 13 papers presented in this volume were carefully reviewed and selected from 26 submissions. They are organized in topical sections named: modeling and specification; animation and prototyping; verification and validation; and model checking. .