Too often, individuals with intellectual and developmental disability (IDD) are left out of discussions on romantic relationships and sexuality. However, many individuals with IDD want to become sexually expressive, fulfilled persons who are sexually active, yet they are often denied the sexual health education to support their sexual agency. Given this, we conducted a three-year disability Research-based Theatre (RbT) project in New Westminster, British Columbia to better respond to the needs of individuals with IDD, who refer to themselves as self-advocates—those who speak and act with agency—regarding their sexual agency. The project, entitled Romance, Relationships, and Rights ( RRR), sought to disrupt sexual ableism, and present the lived experiences of self-advocates on stage. Throughout the three phases of RRR, the themes of sexual agency, self-advocacy, and self-determination arose. As an extension of this previous work, we take up these themes in a critical self-study where we reflect on the project across, within, and between each phase by focusing on the implications for sexual health education. We present findings about the impact of creating RRR to engage in a retrospective dialogue across all three phases to offer recommendations for intersectional, accessible, inclusive, and comprehensive sexual health education. Key recommendations include recognizing self-advocates’ rights to self-determination and sexual agency, active involvement, and hands-on approach to sexual health education where accessibility, flexibility, and an awareness of needs are built in to lesson plans and curriculum.