Human and AI are increasingly interacting and collaborating to accomplish various complex tasks in the context of diverse application domains (e.g., healthcare, transportation, and creative design). Two dynamic, learning entities (AI and human) have distinct mental model, expertise, and ability; such fundamental difference/mismatch offers opportunities for bringing new perspectives to achieve better results. However, this mismatch can cause unexpected failure and result in serious consequences. While recent research has paid much attention to enhancing interpretability or explainability to allow machine to explain how it makes a decision for supporting humans, this research argues that there is urging the need for both human and AI should develop specific, corresponding ability to interact and collaborate with each other to form a human-AI team to accomplish superior results. This research introduces a conceptual framework called "Co-Learning," in which people can learn with/from and grow with AI partners over time. We characterize three key concepts of co-learning: "mutual understanding," "mutual benefits," and "mutual growth" for facilitating human-AI collaboration on complex problem solving. We will present proof-of-concepts to investigate whether and how our approach can help human-AI team to understand and benefit each other, and ultimately improve productivity and creativity on creative problem domains. The insights will contribute to the design of Human-AI collaboration.