In this paper, a novel sonoelastographic technique for estimating local shear velocities from propagating shear wave interference patterns (termed crawling waves) is introduced. A relationship between the local crawling wave spatial phase derivatives and local shear wave velocity is derived with phase derivatives estimated using an autocorrelation technique. Results from homogeneous phantoms demonstrate the ability of sonoelastographic shear velocity imaging to quantify the true underlying shear velocity distributions as verified using time-of-flight measurements. Heterogeneous phantom results reveal the capacity for lesion detection and shear velocity quantification as validated from mechanical measurements on phantom samples. Experimental results obtained from a prostate specimen illustrated feasibility for shear velocity imaging in tissue. More importantly, high-contrast visualization of focal carcinomas was demonstrated introducing the clinical potential of this novel sonoelastographic imaging technique.