We give a combinatorial expansion of the stable Grothendieck polynomials of skew Young diagrams in terms of skew Schur functions, using a new row insertion algorithm for set-valued semistandard tableaux of skew shape. This expansion unifies some previous results: it generalizes a combinatorial formula obtained in earlier joint work with López Martín and Teixidor i Bigas concerning Brill-Noether curves, and it generalizes a 2000 formula of Lenart and a recent result of Reiner-Tenner-Yong to skew shapes. We also give an expansion in the other direction: expressing skew Schur functions in terms of skew Grothendieck polynomials.