Abstract: With the rapid growth of the healthcare demand of residents, how to efficiently utilize limited resources by optimizing the scheduling strategies of medical staffs and patients is an important research issue. A systematic review is conducted on important international and domestic literature of ambulatory staff and patient scheduling. First, focusing on the core objective of matching healthcare supply and demand, the discussion examines two critical issues: healthcare staff scheduling (including staffing and scheduling optimization) and patient scheduling (including static appointment scheduling and dynamic responses). Subsequently, the research trajectory of healthcare staff scheduling is outlined from the perspectives of homogeneous versus heterogeneous providers, behavioral factors, and decision cycles; meanwhile, modeling and optimization approaches to patient scheduling are synthesized with respect to provider characteristics, patient types and behaviors, and the complexity of service systems. Finally, based on a summary of the current state of research, limitations are identified in areas such as joint scheduling, behavioral modeling, and multi-stage coordination, and future research directions are highlighted, including healthcare staff skill development, patient compliance, data-driven behavioral prediction, and human–machine interaction. These insights provide theoretical guidance for understanding the evolution of outpatient scheduling optimization and for promoting the implementation of smart healthcare systems.