Heat stress caused by high air temperature and high humidity is a serious health concern for urban residents. Mobile measurement of these two parameters can complement weather station observations because of its ability to capture data at fine spatial scales and in places where people live and work. In this paper, we describe a smart temperature and humidity sensor (Smart-T) for use on bicycles to characterize intracity variations in human thermal conditions. The sensor has several key characteristics of internet of things (IoT) technology, including lightweight, low cost, low power consumption, ability to communicate and geolocate the data (via the cyclist’s smartphone), and the potential to be deployed in large quantities. The sensor has a reproducibility of 0.03°–0.05°C for temperature and of 0.18%–0.33% for relative humidity (one standard deviation of variation among multiple units). The time constant with a complete radiation shelter and moving at a normal cycling speed is 9.7 and 18.5 s for temperature and humidity, respectively, corresponding to a spatial resolution of 40 and 70 m. Measurements were made with the sensor on street transects in Nanjing, China. Results show that increasing vegetation fraction causes reduction in both air temperature and absolute humidity and that increasing impervious surface fraction has the opposite effect.