Edwards, who hails from nearby Columbia, MO, posted a lap at 171.521 mph for his sixth pole of the season and the 27th of his Nationwide career. He won last Saturday's race at Dover. Edwards has never won a Nationwide or Sprint Cup Series race at his home track but took the checkered flag in a Camping World Truck Series event here in 2004.
Brad Keselowski's lap at 171.282 mph earned him the outside pole. Ryan Truex qualified third, followed by Paul Menard and Brian Scott.
Stenhouse holds a 22-point advantage over Elliott Sadler, who qualified 12th.
Danica Patrick will start 15th.
Dennis Setzer, Tim Andrews, Danny O'Quinn, Jennifer Jo Cobb, a Kansas City native, and Mark Green failed to qualify.
Saturday's 300-mile race at Kansas is scheduled to start just after 3:30 p.m. (et).