The Czechs made a promising start when Patrik Schick’s free-kick required Alisson Becker to get down and punch away, with the follow-up by Tomas Soucek’s cleared inside the opening 20 minutes.
The Selecao were stunned on 36 minutes after David Pavelka infiltrated the defensive area to fire past Alisson.
Shocked and surprised, the Brazilians looked to have fallen on their sword but ended the half pushing for the equaliser.
Changes on either end ensued at the restart, with Theodor Gebre Selassie filling in for Filip Novak, while Brazil coach Everton sacrificed for Lucas Paqueta.
In the midst of a few openings, the Selecao capitalised on Marek Suchy’s back-pass to grab the equaliser courtesy of Roberto Firmino on 49 minutes.
Pavlenka were now under the guage, as Philippe Coutinho’s shot threatened the bottom corner but the former’s reflexes strayed for a corner, before the Barcelona midfielder was taken off for Jesus minutes later.
Highly-rated David Neres, who replaced Richarlison for his national team debut, looked for the go-ahead goal but Pavlenka pulled off a close-range save on 77 minutes.
The Brazilians finally took over proceedings, as Neres' square ball landed to an unguarded Jesus who delicately finished into an empty net with seven minutes remaining.
The Manchester City forward rounded off the scoring moments later with a similar finish from Allan’s back-flip inside the area as Selecao ran out 3-1 winners on the night.