Two people have been killed and 12 others injured when a small aircraft crashed on a street in Brazil's largest city Sao Paulo, authorities say.

The aircraft struck several residences and parked vehicles, the fire department said.

The plane crashed seconds after taking off from Campo de Marte, an executive airport, and officials were still working to determine the cause.

Both of the fatalities were people aboard the plane.

Five others were pulled alive from the burning wreck with minor injuries and seven pedestrians were also hurt.

All of the injured people were expected to recover, fire department Lt. Andre Elias told TV Globo.