diff --git a/rclpy/rclpy/action/client.py b/rclpy/rclpy/action/client.py
index bdde81f9f..f22cca0d1 100644
--- a/rclpy/rclpy/action/client.py
+++ b/rclpy/rclpy/action/client.py
@@ -14,6 +14,8 @@
 
 import threading
 import time
+from typing import Any
+from typing import TypedDict
 import uuid
 import weakref
 
@@ -32,6 +34,14 @@
 from unique_identifier_msgs.msg import UUID
 
 
+class ClientGoalHandleDict(TypedDict, total=False):
+    goal: Any
+    cancel: Any
+    result: Any
+    feedback: Any
+    status: Any
+
+
 class ClientGoalHandle():
     """Goal handle for working with Action Clients."""
 
@@ -108,7 +118,7 @@ def get_result_async(self):
         return self._action_client._get_result_async(self)
 
 
-class ActionClient(Waitable):
+class ActionClient(Waitable[ClientGoalHandleDict]):
     """ROS Action client."""
 
     def __init__(
@@ -237,9 +247,9 @@ def is_ready(self, wait_set):
         self._is_result_response_ready = ready_entities[4]
         return any(ready_entities)
 
-    def take_data(self):
+    def take_data(self) -> ClientGoalHandleDict:
         """Take stuff from lower level so the wait set doesn't immediately wake again."""
-        data = {}
+        data: ClientGoalHandleDict = {}
         if self._is_goal_response_ready:
             taken_data = self._client_handle.take_goal_response(
                 self._action_type.Impl.SendGoalService.Response)
@@ -277,7 +287,7 @@ def take_data(self):
 
         return data
 
-    async def execute(self, taken_data):
+    async def execute(self, taken_data: ClientGoalHandleDict) -> None:
         """
         Execute work after data has been taken from a ready wait set.
 
diff --git a/rclpy/rclpy/action/server.py b/rclpy/rclpy/action/server.py
index 1bf204b4b..8296df76c 100644
--- a/rclpy/rclpy/action/server.py
+++ b/rclpy/rclpy/action/server.py
@@ -17,6 +17,8 @@
 import threading
 import traceback
 
+from typing import Any, TypedDict
+
 from action_msgs.msg import GoalInfo, GoalStatus
 
 from rclpy.executors import await_or_execute
@@ -49,6 +51,13 @@ class CancelResponse(Enum):
 GoalEvent = _rclpy.GoalEvent
 
 
+class ServerGoalHandleDict(TypedDict, total=False):
+    goal: Any
+    cancel: Any
+    result: Any
+    expired: Any
+
+
 class ServerGoalHandle:
     """Goal handle for working with Action Servers."""
 
@@ -178,7 +187,7 @@ def default_cancel_callback(cancel_request):
     return CancelResponse.REJECT
 
 
-class ActionServer(Waitable):
+class ActionServer(Waitable[ServerGoalHandleDict]):
     """ROS Action server."""
 
     def __init__(
@@ -446,9 +455,9 @@ def is_ready(self, wait_set):
         self._is_goal_expired = ready_entities[3]
         return any(ready_entities)
 
-    def take_data(self):
+    def take_data(self) -> ServerGoalHandleDict:
         """Take stuff from lower level so the wait set doesn't immediately wake again."""
-        data = {}
+        data: ServerGoalHandleDict = {}
         if self._is_goal_request_ready:
             with self._lock:
                 taken_data = self._handle.take_goal_request(
@@ -482,7 +491,7 @@ def take_data(self):
 
         return data
 
-    async def execute(self, taken_data):
+    async def execute(self, taken_data: ServerGoalHandleDict) -> None:
         """
         Execute work after data has been taken from a ready wait set.
 
diff --git a/rclpy/rclpy/callback_groups.py b/rclpy/rclpy/callback_groups.py
index 37412fea7..de5ef04af 100644
--- a/rclpy/rclpy/callback_groups.py
+++ b/rclpy/rclpy/callback_groups.py
@@ -13,7 +13,7 @@
 # limitations under the License.
 
 from threading import Lock
-from typing import Literal, Optional, TYPE_CHECKING, Union
+from typing import Any, Literal, Optional, TYPE_CHECKING, Union
 import weakref
 
 
@@ -23,7 +23,7 @@
     from rclpy.client import Client
     from rclpy.service import Service
     from rclpy.waitable import Waitable
-    Entity = Union[Subscription, Timer, Client, Service, Waitable]
+    Entity = Union[Subscription, Timer, Client, Service, Waitable[Any]]
 
 
 class CallbackGroup:
diff --git a/rclpy/rclpy/event_handler.py b/rclpy/rclpy/event_handler.py
index 9bcd111c8..427313c4b 100644
--- a/rclpy/rclpy/event_handler.py
+++ b/rclpy/rclpy/event_handler.py
@@ -13,6 +13,7 @@
 # limitations under the License.
 
 from enum import IntEnum
+from typing import Any
 from typing import Callable
 from typing import List
 from typing import Optional
@@ -27,6 +28,9 @@
 from rclpy.waitable import NumberOfEntities
 from rclpy.waitable import Waitable
 
+if TYPE_CHECKING:
+    from typing import TypeAlias
+
 
 if TYPE_CHECKING:
     from rclpy.subscription import SubscriptionHandle
@@ -75,7 +79,10 @@
 UnsupportedEventTypeError = _rclpy.UnsupportedEventTypeError
 
 
-class EventHandler(Waitable):
+EventHandlerData: 'TypeAlias' = Optional[Any]
+
+
+class EventHandler(Waitable[EventHandlerData]):
     """Waitable type to handle QoS events."""
 
     def __init__(
@@ -106,7 +113,7 @@ def is_ready(self, wait_set):
             self._ready_to_take_data = True
         return self._ready_to_take_data
 
-    def take_data(self):
+    def take_data(self) -> EventHandlerData:
         """Take stuff from lower level so the wait set doesn't immediately wake again."""
         if self._ready_to_take_data:
             self._ready_to_take_data = False
@@ -114,7 +121,7 @@ def take_data(self):
                 return self.__event.take_event()
         return None
 
-    async def execute(self, taken_data):
+    async def execute(self, taken_data: EventHandlerData) -> None:
         """Execute work after data has been taken from a ready wait set."""
         if not taken_data:
             return
diff --git a/rclpy/rclpy/executors.py b/rclpy/rclpy/executors.py
index db41f58b3..17169063d 100644
--- a/rclpy/rclpy/executors.py
+++ b/rclpy/rclpy/executors.py
@@ -610,7 +610,7 @@ def _wait_for_ready_callbacks(
             timers: List[Timer] = []
             clients: List[Client] = []
             services: List[Service] = []
-            waitables: List[Waitable] = []
+            waitables: List[Waitable[Any]] = []
             for node in nodes_to_use:
                 subscriptions.extend(filter(self.can_execute, node.subscriptions))
                 timers.extend(filter(self.can_execute, node.timers))
diff --git a/rclpy/rclpy/node.py b/rclpy/rclpy/node.py
index 66c669ebb..e51dbcd5d 100644
--- a/rclpy/rclpy/node.py
+++ b/rclpy/rclpy/node.py
@@ -16,6 +16,7 @@
 import time
 
 from types import TracebackType
+from typing import Any
 from typing import Callable
 from typing import Dict
 from typing import Iterator
@@ -181,7 +182,7 @@ def __init__(
         self._services: List[Service] = []
         self._timers: List[Timer] = []
         self._guards: List[GuardCondition] = []
-        self.__waitables: List[Waitable] = []
+        self.__waitables: List[Waitable[Any]] = []
         self._default_callback_group = MutuallyExclusiveCallbackGroup()
         self._pre_set_parameters_callbacks: List[Callable[[List[Parameter]], List[Parameter]]] = []
         self._on_set_parameters_callbacks: \
@@ -290,7 +291,7 @@ def guards(self) -> Iterator[GuardCondition]:
         yield from self._guards
 
     @property
-    def waitables(self) -> Iterator[Waitable]:
+    def waitables(self) -> Iterator[Waitable[Any]]:
         """Get waitables that have been created on this node."""
         yield from self.__waitables
 
@@ -1485,7 +1486,7 @@ def _validate_qos_or_depth_parameter(self, qos_or_depth) -> QoSProfile:
             raise TypeError(
                 'Expected QoSProfile or int, but received {!r}'.format(type(qos_or_depth)))
 
-    def add_waitable(self, waitable: Waitable) -> None:
+    def add_waitable(self, waitable: Waitable[Any]) -> None:
         """
         Add a class that is capable of adding things to the wait set.
 
@@ -1494,7 +1495,7 @@ def add_waitable(self, waitable: Waitable) -> None:
         self.__waitables.append(waitable)
         self._wake_executor()
 
-    def remove_waitable(self, waitable: Waitable) -> None:
+    def remove_waitable(self, waitable: Waitable[Any]) -> None:
         """
         Remove a Waitable that was previously added to the node.
 
diff --git a/rclpy/rclpy/waitable.py b/rclpy/rclpy/waitable.py
index 74ffff295..56b363df5 100644
--- a/rclpy/rclpy/waitable.py
+++ b/rclpy/rclpy/waitable.py
@@ -12,6 +12,21 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
+from types import TracebackType
+from typing import Any, Generic, List, Optional, Type, TYPE_CHECKING, TypeVar
+
+
+from rclpy.impl.implementation_singleton import rclpy_implementation as _rclpy
+
+T = TypeVar('T')
+
+
+if TYPE_CHECKING:
+    from typing_extensions import Self
+
+    from rclpy.callback_groups import CallbackGroup
+    from rclpy.task import Future
+
 
 class NumberOfEntities:
 
@@ -24,8 +39,8 @@ class NumberOfEntities:
         'num_events']
 
     def __init__(
-        self, num_subs=0, num_gcs=0, num_timers=0,
-        num_clients=0, num_services=0, num_events=0
+        self, num_subs: int = 0, num_gcs: int = 0, num_timers: int = 0,
+        num_clients: int = 0, num_services: int = 0, num_events: int = 0
     ):
         self.num_subscriptions = num_subs
         self.num_guard_conditions = num_gcs
@@ -34,7 +49,7 @@ def __init__(
         self.num_services = num_services
         self.num_events = num_events
 
-    def __add__(self, other):
+    def __add__(self, other: 'NumberOfEntities') -> 'NumberOfEntities':
         result = self.__class__()
         result.num_subscriptions = self.num_subscriptions + other.num_subscriptions
         result.num_guard_conditions = self.num_guard_conditions + other.num_guard_conditions
@@ -44,7 +59,7 @@ def __add__(self, other):
         result.num_events = self.num_events + other.num_events
         return result
 
-    def __iadd__(self, other):
+    def __iadd__(self, other: 'NumberOfEntities') -> 'NumberOfEntities':
         self.num_subscriptions += other.num_subscriptions
         self.num_guard_conditions += other.num_guard_conditions
         self.num_timers += other.num_timers
@@ -53,59 +68,64 @@ def __iadd__(self, other):
         self.num_events += other.num_events
         return self
 
-    def __repr__(self):
+    def __repr__(self) -> str:
         return '<{0}({1}, {2}, {3}, {4}, {5}, {6})>'.format(
             self.__class__.__name__, self.num_subscriptions,
             self.num_guard_conditions, self.num_timers, self.num_clients,
             self.num_services, self.num_events)
 
 
-class Waitable:
+class Waitable(Generic[T]):
     """
     Add something to a wait set and execute it.
 
     This class wraps a collection of entities which can be added to a wait set.
     """
 
-    def __init__(self, callback_group):
+    def __init__(self, callback_group: 'CallbackGroup'):
         # A callback group to control when this entity can execute (used by Executor)
         self.callback_group = callback_group
         self.callback_group.add_entity(self)
         # Flag set by executor when a handler has been created but not executed (used by Executor)
         self._executor_event = False
         # List of Futures that have callbacks needing execution
-        self._futures = []
+        self._futures: List[Future[Any]] = []
 
-    def __enter__(self):
+    def __enter__(self) -> 'Self':
         """Implement to mark entities as in-use to prevent destruction while waiting on them."""
-        pass
+        raise NotImplementedError('Must be implemented by subclass')
 
-    def __exit__(self, t, v, tb):
+    def __exit__(
+        self,
+        exc_type: Optional[Type[BaseException]],
+        exc_val: Optional[BaseException],
+        exc_tb: Optional[TracebackType],
+    ) -> None:
         """Implement to mark entities as not-in-use to allow destruction after waiting on them."""
-        pass
+        raise NotImplementedError('Must be implemented by subclass')
 
-    def add_future(self, future):
+    def add_future(self, future: 'Future[Any]') -> None:
         self._futures.append(future)
 
-    def remove_future(self, future):
+    def remove_future(self, future: 'Future[Any]') -> None:
         self._futures.remove(future)
 
-    def is_ready(self, wait_set):
+    def is_ready(self, wait_set: _rclpy.WaitSet) -> bool:
         """Return True if entities are ready in the wait set."""
         raise NotImplementedError('Must be implemented by subclass')
 
-    def take_data(self):
+    def take_data(self) -> T:
         """Take stuff from lower level so the wait set doesn't immediately wake again."""
         raise NotImplementedError('Must be implemented by subclass')
 
-    async def execute(self, taken_data):
+    async def execute(self, taken_data: T) -> None:
         """Execute work after data has been taken from a ready wait set."""
         raise NotImplementedError('Must be implemented by subclass')
 
-    def get_num_entities(self):
+    def get_num_entities(self) -> NumberOfEntities:
         """Return number of each type of entity used."""
         raise NotImplementedError('Must be implemented by subclass')
 
-    def add_to_wait_set(self, wait_set):
+    def add_to_wait_set(self, wait_set: _rclpy.WaitSet) -> None:
         """Add entities to wait set."""
         raise NotImplementedError('Must be implemented by subclass')
diff --git a/rclpy/test/test_create_while_spinning.py b/rclpy/test/test_create_while_spinning.py
index a950333aa..b3e06836b 100644
--- a/rclpy/test/test_create_while_spinning.py
+++ b/rclpy/test/test_create_while_spinning.py
@@ -94,6 +94,12 @@ class DummyWaitable(Waitable):
             def __init__(self):
                 super().__init__(ReentrantCallbackGroup())
 
+            def __enter__(self):
+                return self
+
+            def __exit__(self, exc_type, exc_val, exc_tb) -> None:
+                pass
+
             def is_ready(self, wait_set):
                 return False
 
diff --git a/rclpy/test/test_waitable.py b/rclpy/test/test_waitable.py
index 5debdda40..96b22f6c6 100644
--- a/rclpy/test/test_waitable.py
+++ b/rclpy/test/test_waitable.py
@@ -50,6 +50,12 @@ def __init__(self, node):
         self.node = node
         self.future = None
 
+    def __enter__(self):
+        return self
+
+    def __exit__(self, exc_type, exc_val, exc_tb) -> None:
+        pass
+
     def is_ready(self, wait_set):
         """Return True if entities are ready in the wait set."""
         if wait_set.is_ready('client', self.client_index):
@@ -93,6 +99,12 @@ def __init__(self, node):
         self.node = node
         self.future = None
 
+    def __enter__(self):
+        return self
+
+    def __exit__(self, exc_type, exc_val, exc_tb) -> None:
+        pass
+
     def is_ready(self, wait_set):
         """Return True if entities are ready in the wait set."""
         if wait_set.is_ready('service', self.server_index):
@@ -138,6 +150,12 @@ def __init__(self, node):
         self.node = node
         self.future = None
 
+    def __enter__(self):
+        return self
+
+    def __exit__(self, exc_type, exc_val, exc_tb) -> None:
+        pass
+
     def is_ready(self, wait_set):
         """Return True if entities are ready in the wait set."""
         if wait_set.is_ready('timer', self.timer_index):
@@ -182,6 +200,12 @@ def __init__(self, node):
         self.node = node
         self.future = None
 
+    def __enter__(self):
+        return self
+
+    def __exit__(self, exc_type, exc_val, exc_tb) -> None:
+        pass
+
     def is_ready(self, wait_set):
         """Return True if entities are ready in the wait set."""
         if wait_set.is_ready('subscription', self.subscription_index):
@@ -227,6 +251,12 @@ def __init__(self, node):
         self.node = node
         self.future = None
 
+    def __enter__(self):
+        return self
+
+    def __exit__(self, exc_type, exc_val, exc_tb) -> None:
+        pass
+
     def is_ready(self, wait_set):
         """Return True if entities are ready in the wait set."""
         if wait_set.is_ready('guard_condition', self.guard_condition_index):
@@ -261,6 +291,12 @@ class MutuallyExclusiveWaitable(Waitable):
     def __init__(self):
         super().__init__(MutuallyExclusiveCallbackGroup())
 
+    def __enter__(self):
+        return self
+
+    def __exit__(self, exc_type, exc_val, exc_tb) -> None:
+        pass
+
     def is_ready(self, wait_set):
         return False