There is an ethical responsibility to provide all animals living in human care with optimal and positive well-being. As animals living in zoos and aquariums frequently interact with their human caregivers as part of their daily care routines, it is both relevant and essential to consider the impact of these interactions on animal well-being. Allowing animals to have choice and control in multiple areas of their lives, such as by providing opportunities for them to voluntarily participate in their own care through, for example, positive reinforcement training, is an essential component of good animal well-being programs. This review aims to describe evidence-based approaches, ethics, and best practices in the handling and training of the many taxa held in zoos and aquariums worldwide, drawing from work in related animal care fields such as laboratories, farms, rescue, and sanctuaries. The importance of ongoing animal well-being assessments is discussed, with a particular focus on the need for continued review and refinement of processes and procedures pertaining to animal training and handling specifically. Review, enquiry, assessment, evaluation, and refinement will aim to dynamically support positive well-being for all animals.