The male pedestrian, 39-year-old Robert Bromell, died following the crash.
The ambulance was on its way to an emergency call with its blue lights on when the incident happened.
The 20-year-old is due to appear at Oban Sheriff Court on Monday, 18 September.
In a statement from his family released by Police Scotland, Mr Bromell was described as a “loving Dad” and a “funny character”.
They said: “Robert Bromell, better known as Hogan to all his family and friends, with his cheeky smile and funny character.
“You would never not see Hogan without a smile on his face and a little joke to tell.
“It is a devastating loss and he will be missed by everyone that knew him. He was a loving dad to his two sons Kaiden and Kai and an amazing brother to Emma, Phil, Dave and Theresa.
“As a family we are devastated and truly heartbroken right now. Life will not be the same without him.”