This article provides an introduction to sex-positive criminology and its goals for change. Sex-positive criminology draws from the "thick desire" organizing principle, which is a rights-based approach to human sexuality, as well as from positive sexuality approaches. It also draws from critical, queer, and feminist criminological traditions and abolitionist sensibilities. We discuss examples that pertain to key tenets of sex-positivity: consent and bodily autonomy, education, medical access, harm reduction, and ways to increase agency.Main topics of discussion include addressing deeply harmful and sex-negative laws and policies that perpetuate state violence, such as coerced or forced sterilization, criminalization of abortion and pregnancy loss, sexual and physical assault of sex workers by police, criminalization through medically inaccurate laws, and legislation such as Allow States and Victims to Fight Online Sex Trafficking Act and the Stop Enabling Sex Traffickers Act that puts marginalized populations at risk. Throughout, we reflect on possibilities for sex-positive laws and policies and the social impacts they would have, such as improving health and well-being.