In 2006, he started the season running full-time for Rookie of the Year in the Craftsman Truck Series, driving the No.

He was pulled from the ride in some races towards the end of the season, and now was sharing it with three Chevy Cup Series drivers: Clint Bowyer, Joe Nemechek, and Denny Hamlin.

He was originally slated to share this truck with fellow Ginn developmental driver Jesus Hernandez, but this never happened after Ginn merged with Dale Earnhardt Inc. mid-season, and Kinser was replaced by Regan Smith, meaning he did not complete the season for the second straight year.

In 2010, he drove for his dad Steve Kinser's team with Quaker State sponsorship under the number 11K.

[citation needed] (key) (Bold – Pole position awarded by qualifying time.