Hi Ana,
I'm in zone 6 in Nova Scotia Canada. There's a book I use as my bible for this....
It's called "The Year Round Vegetable Gardener" by Nikki Jabbour. She's just down the road from me in zone 6 too.
There's tons of ideas about ways to mulch stuff so you can harvest into winter, create easy cold frames from
straw bales, etc.
But the part I refer to constantly is her index of vegetables! For each one, she lists when and how early you can start plants, indoor or outdoor, whether to cover, and then.... most importantly for your question, she lists when to sow for your fall crop. She also lists all her favourite cold-hardy varieties so you can keep growing longer.
It's a really great resource!
You'll need to know your average first fall frost date, and then you'll need to add however many weeks for your plants to mature after seeding and germination. Work backwards from your frost date and that's your sowing date. Once they're mature, you can usually protect them from the first few frosts for quite a while and keep harvesting. And if you're growing in pots, say kale, you can move them to the attic when it's time. For in ground crops like carrots, etc. you can mulch well, and cover them and just keep harvesting, even in the snow!