He added that Kim had said he was ready to allow worldwide inspectors into North Korea's Punggye-ri nuclear testing site and the Sohae missile engine test facility as soon as the United States and North Korea agreed on logistics.
Now, with inter-Korean tensions easing far more rapidly than North Korea-US strains, that possibility is looking more likely.
Kang's remarks on sanctions, retracted after criticism from South Korean lawmakers, prompted U.S. President Donald Trump to say South Korea would need U.S. approval to relieve sanctions.
The US has tried everything in its power to restrict the flow of luxury goods to North Korea, but Kim showed the Trump administration they failed.
The office of South Korean President Moon Jae-in announced on Tuesday that Pope Francis will be invited to Pyongyang, North Korea to meet with Dictator Kim Jong Un.
"I'd love to remove them, but we have to get something for doing it", Trump said.More news: Nokia 3.1 Plus, Nokia 8110 4G launched in India
Washington has consistently stressed that sanctions will be remain in place until North Korea relinquishes its nuclear arsenal, with the State Department on Monday insisting that the USA and China were "unified" on the pressure campaign against the DPRK. "As there are many (bilateral) sanctions overlapping the United Nations ones, it won't necessarily mean the substantive lifting (of sanctions on the North)".
Senior North Korean officials including sports minister Kim Il-guk and foreign affairs minister Ri Su-yong were also at the game. Visits to Pyongyang by US Secretary of State Mike Pompeo, and other contacts with North Korean officials, have made little apparent leeway regarding how denuclearization should proceed.
Trump's response when he was asked about Kang's comments implied friction between the allies over the pace of inter-Korean engagement amid concerns in Washington that North Korea is lagging behind in its supposed promise to denuclearize.
While arguing that improved inter-Korean relations could possibly facilitate progress in larger nuclear negotiations between the USA and North Korea, Cho said Seoul isn't ready yet to campaign for reduced pressure against its rival. North Korea and the U.S. continue their denuclearization talks, with their second summit in the works.
The May 24 measures include the South blocking North Korea's access to the Jeju Straight.
Kang did not specify what Pompeo was unhappy about.More news: Climate change: Why it's not too big - and not too late
While some in the USA administration have indicated that denuclearization could be completed within the lifespan of the Trump administration, some experts say it could take more than a decade - assuming it is faithfully implemented, which many doubt.
The drive for denuclearisation sprang from pledges made by Trump and North Korean leader Kim Jong Un at their historic summit in Singapore in June, although there has since been disagreement over how that would be achieved.
The North Korean leader had told Mr Moon about his plan when the two met last month.
Trump said "eventually we're going to have lots of meetings on USA soil and on their soil by the way".
But it is expected to create momentum for the resumption of long-stalled inter-Korean economic projects such as Kumkangsan tours and the shuttered Kaesong industrial park, as the Moon administration eyes broader economic cooperation in return for the North's denuclearization. The decision had also deprived Kaesong residents of what had been a steady supply of water and electricity.More news: BANKSY Self-Shredding Painting Doubles in Value After Selling for $1.1 Million