Nova (8-4) yielded three hits over nine scoreless innings, issuing one walk and striking out five. The right-hander tossed 67-of-104 pitches for strikes while lowering his ERA to 2.88.
Cano provided New York's offense with a first-inning RBI double and an eighth-inning solo homer.
The Yankees clinched the three-game series with their American League East rivals and pulled to within four games of an AL wild-card spot.
Orioles starter Scott Feldman (4-4) absorbed the hard-luck loss, allowing one run on six hits over seven innings.
Baltimore fell 4 1/2 games out of an AL wild-card berth.