A novel soybean cultivar, designated 6190006, is disclosed. The invention relates to the seeds of soybean cultivar 6190006, to the plants of soybean 6190006 and to methods for producing a soybean plant produced by crossing the cultivar 6190006 with itself or another soybean variety. The invention further relates to hybrid soybean seeds and plants produced by crossing the cultivar 6190006 with another soybean cultivar.