 The commentary highlights the missing discourse on sexual rights and pleasure in the Sustainable Development Goals, SDG, that aim to leave no one behind, while proposing a focus on sexual health and human rights for all. However, the omission of sexual rights and erasure of LGBTQ persons and sex workers from SDG discussions of social inequities is troubling. Illustrative examples are provided to demonstrate how a sexual rights focus could advance SDG 3 focused on healthy lives and well-being for all, such as ending the HIV pandemic among LGBTQ persons and sex workers and providing universal access to sexual and reproductive health information and education through sexual pleasure. The commentary argues that to truly leave no one behind and realize sexual health for all, the SDG need to begin from a foundation of sexual rights. This article was authored by Carmen H. Logee.