Firmino put the visitors ahead after 11 minutes when he tapped a volley home from close range after fine work on the right wing from Douglas Costa.
Brazil went ahead when Costa beat Robinson, and Firmino split defenders Matt Miazga and Brooks and with his right foot directed the ball past goalkeeper Zack Steffen for his eighth goal in 26 global appearances.
Friday night saw Brazil playing in New Jersey, a star studded side up against a youthful United States of America team looking to rebuild after a dismal World Cup qualifying campaign for Russian Federation. I suffered lots of fouls during the World Cup. New general manager Earnie Stewart said this week a permanent coach will be announced later this year.
Brazil maintained its strong tradition with an easy win on Friday, thanks to the goals by forwards Roberto Firmino at the 11th minute and Neymar converting a penalty at the 43rd.
Although the award looked generous, Neymar made no mistake, sending the goalkeeper the wrong way to make it 2-0.
In the course of the game, when Newcastle's DeAndre Yedlin was warned for a trip on Neymar.
The visitors were on top throughout against a young USA team that have been without a full-time coach since Bruce Arena resigned after they missed out on the World Cup finals for the first time since 1986.
Neymar, who now plays for France's PSG, converted the penalty with a soft shot to the left as Steffen lunged to the right.
"I probably overthought that I had to get too tight to him, and by the time I had settled my feet, he'd already made his mind to go and I didn't reallt have a chance of catching him", Robinson said.
However, earlier this week, Neymar insisted that he's making an effort not to be so theatric in the future.