Limit-cycle oscillators are the basic building blocks for synchronization; yet, the notion of a quantum limit cycle has remained unclear. Here, we study quantum limit cycles and synchronization in the presence of continuous heterodyne measurement. The resulting quantum trajectories, i.e., time evolutions of the quantum state conditioned on the measurement outcome, make the quantum limit cycles apparent. We focus on the paradigmatic model of the quantum van der Pol oscillator and on two-level systems. Our work provides insights into limit cycles in quantum systems, emphasizing their similarity to classical limit cycles subject to noise. Additionally, we connect theoretical measures of quantum synchronization to quantities experimentally accessible via heterodyne detection.

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