diff --git a/Cargo.toml b/Cargo.toml
index f6948c6f8c29f..5a1a4861858f2 100644
--- a/Cargo.toml
+++ b/Cargo.toml
@@ -2494,6 +2494,17 @@ description = "Demonstrates a startup system (one that runs once when the app st
 category = "ECS (Entity Component System)"
 wasm = false
 
+[[example]]
+name = "delayed_commands"
+path = "examples/ecs/delayed_commands.rs"
+doc-scrape-examples = true
+
+[package.metadata.example.delayed_commands]
+name = "Delayed Commands"
+description = "Demonstrates how to schedule ECS commands with a delay"
+category = "ECS (Entity Component System)"
+wasm = true
+
 [[example]]
 name = "states"
 path = "examples/state/states.rs"
diff --git a/crates/bevy_ecs/src/system/commands/mod.rs b/crates/bevy_ecs/src/system/commands/mod.rs
index 2ba10fa79d0c4..d2da57458ad0c 100644
--- a/crates/bevy_ecs/src/system/commands/mod.rs
+++ b/crates/bevy_ecs/src/system/commands/mod.rs
@@ -268,6 +268,20 @@ impl<'w, 's> Commands<'w, 's> {
         }
     }
 
+    /// Returns a new [`Commands`] that writes commands to the provided [`CommandQueue`] instead of the one from `self`.
+    ///
+    /// This is useful if you have a `Commands` that writes to one queue and you want one that writes to another.
+    ///
+    /// Note that you're responsible for ensuring the queue eventually writes its commands to the world. One way to
+    /// do this is calling [`Commands::append`] on a `Commands` that writes to the world queue. Failure to write a
+    /// queue may result in entities being allocated but never spawned, which means those entity IDs are never
+    /// freed for reuse.
+    ///
+    /// The original `Commands` isn't mutated or borrowed after this returns, so you can keep using it.
+    pub fn rebound_to<'q>(&self, queue: &'q mut CommandQueue) -> Commands<'w, 'q> {
+        Commands::new_from_entities(queue, self.allocator, self.entities)
+    }
+
     /// Returns a [`Commands`] with a smaller lifetime.
     ///
     /// This is useful if you have `&mut Commands` but need `Commands`.
diff --git a/crates/bevy_time/src/delayed_commands.rs b/crates/bevy_time/src/delayed_commands.rs
new file mode 100644
index 0000000000000..a66cec65f4599
--- /dev/null
+++ b/crates/bevy_time/src/delayed_commands.rs
@@ -0,0 +1,224 @@
+use alloc::vec::Vec;
+use bevy_ecs::{prelude::*, system::command::spawn_batch, world::CommandQueue};
+use bevy_platform::collections::HashMap;
+#[cfg(feature = "bevy_reflect")]
+use bevy_reflect::Reflect;
+use core::time::Duration;
+
+use crate::Time;
+
+/// A wrapper over [`Commands`] that stores [`CommandQueue`]s to be applied with given delays.
+///
+/// When dropped, the queues are spawned into the world as new entities with
+/// [`DelayedCommandQueue`] components, and then checked by the
+/// [`check_delayed_command_queues`] system.
+pub struct DelayedCommands<'w, 's> {
+    /// Used to own queues and deduplicate them by their duration.
+    queues: HashMap<Duration, CommandQueue>,
+
+    /// The wrapped `Commands` - used to provision out new `Commands`
+    /// and to spawn the queues as entities when the struct is dropped.
+    commands: Commands<'w, 's>,
+}
+
+impl<'w, 's> DelayedCommands<'w, 's> {
+    /// Return a [`Commands`] whose commands will be delayed by `duration`.
+    #[must_use = "The returned Commands must be used to submit commands with this delay."]
+    pub fn duration(&mut self, duration: Duration) -> Commands<'w, '_> {
+        // Fetch a queue with the given duration or create one
+        let queue = self.queues.entry(duration).or_default();
+        // Return a new `Commands` to write commands to the queue
+        self.commands.rebound_to(queue)
+    }
+
+    /// Return a [`Commands`] whose commands will be delayed by `secs` seconds.
+    #[inline]
+    #[must_use = "The returned Commands must be used to submit commands with this delay."]
+    pub fn secs(&mut self, secs: f32) -> Commands<'w, '_> {
+        self.duration(Duration::from_secs_f32(secs))
+    }
+
+    /// Drains and spawns the contained command queues as [`DelayedCommandQueue`] entities.
+    fn submit(&mut self) {
+        let mut queues = self
+            .queues
+            .drain()
+            .map(|(submit_at, queue)| DelayedCommandQueue { submit_at, queue })
+            .collect::<Vec<_>>();
+
+        self.commands.queue(move |world: &mut World| {
+            // We use the default Time<()> here intentionally to support custom clocks
+            let time = world.resource::<Time>();
+            let elapsed = time.elapsed();
+            for queue in queues.iter_mut() {
+                // Turn relative delays into absolute elapsed times
+                queue.submit_at += elapsed;
+            }
+            spawn_batch(queues).apply(world);
+        });
+    }
+}
+
+/// Extension trait for [`Commands`] that provides delayed command functionality.
+pub trait DelayedCommandsExt<'w> {
+    /// Returns a [`DelayedCommands`] instance that can be used to queue
+    /// commands to be submitted at a later point in time.
+    ///
+    /// When dropped, the [`DelayedCommands`] submits spawn commands that will
+    /// spawn [`DelayedCommandQueue`] entities. The entities are checked
+    /// by the [`check_delayed_command_queues`] system, and their queues are
+    /// submitted when the specified time has elapsed.
+    ///
+    /// # Usage
+    ///
+    /// ```
+    /// # use bevy_ecs::prelude::*;
+    /// # use bevy_time::DelayedCommandsExt;
+    /// fn my_system(mut commands: Commands) {
+    ///     // Spawn an entity after one second
+    ///     commands.delayed().secs(1.0).spawn_empty();
+    /// }
+    /// # bevy_ecs::system::assert_is_system(my_system);
+    /// ```
+    ///
+    /// Entity allocation happens immediately even if the spawn command is delayed.
+    /// This allows you to queue delayed commands on an entity that hasn't been spawned yet.
+    ///
+    /// ```
+    /// # use bevy_ecs::prelude::*;
+    /// # use bevy_time::DelayedCommandsExt;
+    /// fn my_system(mut commands: Commands) {
+    ///     let mut delayed = commands.delayed();
+    ///     // spawn an entity after 1 second, then despawn it a second later
+    ///     let entity = delayed.secs(1.0).spawn_empty().id();
+    ///     delayed.secs(2.0).entity(entity).despawn();
+    /// }
+    /// # bevy_ecs::system::assert_is_system(my_system);
+    /// ```
+    ///
+    /// # Timing
+    ///
+    /// Delayed commands are currently checked against the default clock in the [`PreUpdate`]
+    /// schedule. There's currently no way to specify different clocks for different
+    /// delayed commands - this is a limitation of the system and if you need this behavior
+    /// you'll likely have to implement your own delay system.
+    ///
+    /// [`PreUpdate`]: bevy_app::PreUpdate
+    fn delayed(&mut self) -> DelayedCommands<'w, '_>;
+}
+
+impl<'w, 's> DelayedCommandsExt<'w> for Commands<'w, 's> {
+    fn delayed(&mut self) -> DelayedCommands<'w, '_> {
+        DelayedCommands {
+            commands: self.reborrow(),
+            queues: HashMap::default(),
+        }
+    }
+}
+
+impl<'w, 's> Drop for DelayedCommands<'w, 's> {
+    fn drop(&mut self) {
+        self.submit();
+    }
+}
+
+/// A component with a [`CommandQueue`] to be submitted later.
+///
+/// Queues in these components are checked automatically by the
+/// [`check_delayed_command_queues`] added by [`TimePlugin`] and submitted when
+/// the default clock's elapsed time exceeds `submit_at`.
+///
+/// [`TimePlugin`]: crate::TimePlugin
+#[derive(Component)]
+#[cfg_attr(feature = "bevy_reflect", derive(Reflect), reflect(Component))]
+pub struct DelayedCommandQueue {
+    /// The elapsed time from startup when `queue` should be submitted.
+    pub submit_at: Duration,
+
+    /// The queue to be submitted when time is up.
+    #[cfg_attr(feature = "bevy_reflect", reflect(ignore))]
+    pub queue: CommandQueue,
+}
+
+/// The system used to check [`DelayedCommandQueue`]s, which are usually spawned
+/// by [`DelayedCommands`]. When the elapsed time exceeds a queue's `submit_at` time,
+/// the contained `queue` is appended to the system's [`Commands`].
+pub fn check_delayed_command_queues(
+    queues: Query<(Entity, &mut DelayedCommandQueue)>,
+    time: Res<Time>,
+    mut commands: Commands,
+) {
+    let elapsed = time.elapsed();
+    for (e, mut queue) in queues {
+        if queue.submit_at <= elapsed {
+            // Write the contained delayed commands to the world.
+            commands.append(&mut queue.queue);
+            commands.entity(e).despawn();
+        }
+    }
+}
+
+#[cfg(test)]
+#[expect(clippy::print_stdout, reason = "Allowed in tests.")]
+mod tests {
+    use core::time::Duration;
+    use std::println;
+
+    use bevy_app::{App, Startup};
+    use bevy_ecs::{component::Component, system::Commands};
+
+    use crate::{DelayedCommandsExt, TimePlugin, TimeUpdateStrategy};
+
+    #[derive(Component)]
+    struct DummyComponent;
+
+    #[test]
+    fn delayed_queues_should_run_with_time_plugin_enabled() {
+        fn queue_commands(mut commands: Commands) {
+            commands.delayed().secs(0.1).spawn(DummyComponent);
+
+            commands.spawn(DummyComponent);
+
+            let mut delayed_cmds = commands.delayed();
+            delayed_cmds.secs(0.5).spawn(DummyComponent);
+
+            let mut in_1_sec = delayed_cmds.duration(Duration::from_secs_f32(1.0));
+            in_1_sec.spawn(DummyComponent);
+            in_1_sec.spawn(DummyComponent);
+            in_1_sec.spawn(DummyComponent);
+        }
+
+        let mut app = App::new();
+        app.add_plugins(TimePlugin)
+            .add_systems(Startup, queue_commands)
+            .insert_resource(TimeUpdateStrategy::ManualDuration(Duration::from_secs_f32(
+                0.2,
+            )));
+
+        for frame in 0..10 {
+            app.update();
+            let dummy_count = app
+                .world_mut()
+                .query::<&DummyComponent>()
+                .iter(app.world())
+                .count();
+
+            println!("Frame {frame}, {dummy_count} dummies spawned");
+
+            match frame {
+                0 => {
+                    assert_eq!(dummy_count, 1);
+                }
+                1 | 2 => {
+                    assert_eq!(dummy_count, 2);
+                }
+                3 | 4 => {
+                    assert_eq!(dummy_count, 3);
+                }
+                _ => {
+                    assert_eq!(dummy_count, 6);
+                }
+            }
+        }
+    }
+}
diff --git a/crates/bevy_time/src/lib.rs b/crates/bevy_time/src/lib.rs
index 37634ba8b24df..ebc63af946d35 100644
--- a/crates/bevy_time/src/lib.rs
+++ b/crates/bevy_time/src/lib.rs
@@ -14,6 +14,7 @@ extern crate alloc;
 
 /// Common run conditions
 pub mod common_conditions;
+mod delayed_commands;
 mod fixed;
 mod real;
 mod stopwatch;
@@ -21,6 +22,7 @@ mod time;
 mod timer;
 mod virt;
 
+pub use delayed_commands::*;
 pub use fixed::*;
 pub use real::*;
 pub use stopwatch::*;
@@ -33,7 +35,7 @@ pub use virt::*;
 /// This includes the most common types in this crate, re-exported for your convenience.
 pub mod prelude {
     #[doc(hidden)]
-    pub use crate::{Fixed, Real, Time, Timer, TimerMode, Virtual};
+    pub use crate::{DelayedCommandsExt, Fixed, Real, Time, Timer, TimerMode, Virtual};
 }
 
 use bevy_app::{prelude::*, RunFixedMainLoop};
@@ -83,6 +85,7 @@ impl Plugin for TimePlugin {
                 .in_set(TimeSystems)
                 .ambiguous_with(message_update_system),
         )
+        .add_systems(PreUpdate, check_delayed_command_queues)
         .add_systems(
             RunFixedMainLoop,
             run_fixed_main_schedule.in_set(RunFixedMainLoopSystems::FixedMainLoop),
diff --git a/examples/README.md b/examples/README.md
index b2ec067dce3f4..a99b13cb16117 100644
--- a/examples/README.md
+++ b/examples/README.md
@@ -325,6 +325,7 @@ Example | Description
 [Contiguous Query](../examples/ecs/contiguous_query.rs) | Demonstrates contiguous queries
 [Custom Query Parameters](../examples/ecs/custom_query_param.rs) | Groups commonly used compound queries and query filters into a single type
 [Custom Schedule](../examples/ecs/custom_schedule.rs) | Demonstrates how to add custom schedules
+[Delayed Commands](../examples/ecs/delayed_commands.rs) | Demonstrates how to schedule ECS commands with a delay
 [Dynamic ECS](../examples/ecs/dynamic.rs) | Dynamically create components, spawn entities with those components and query those components
 [ECS Guide](../examples/ecs/ecs_guide.rs) | Full guide to Bevy's ECS
 [Entity disabling](../examples/ecs/entity_disabling.rs) | Demonstrates how to hide entities from the ECS without deleting them
diff --git a/examples/ecs/delayed_commands.rs b/examples/ecs/delayed_commands.rs
new file mode 100644
index 0000000000000..d3a6539352f51
--- /dev/null
+++ b/examples/ecs/delayed_commands.rs
@@ -0,0 +1,60 @@
+//! This example demonstrates how to send commands which will take effect after a period of time.
+//!
+//! We've chosen to demonstrate this effect through the creation of a grid of clickable,
+//! with "ripples" created when you click.
+
+use bevy::prelude::*;
+
+fn main() {
+    App::new()
+        .add_plugins(DefaultPlugins)
+        .add_systems(Startup, spawn)
+        .add_observer(click)
+        .run();
+}
+
+#[derive(Component)]
+struct BlinkySquare;
+
+const SQUARE_SIZE: Vec2 = Vec2::splat(45.0);
+
+fn spawn(mut commands: Commands) {
+    commands.spawn(Camera2d);
+    for x in -5..=5 {
+        for y in -5..=5 {
+            commands.spawn((
+                BlinkySquare,
+                Transform::from_xyz(x as f32 * 50.0, y as f32 * 50.0, 0.0),
+                Sprite::from_color(Color::BLACK, SQUARE_SIZE),
+            ));
+        }
+    }
+}
+
+fn click(
+    click: On<Pointer<Click>>,
+    mut commands: Commands,
+    squares: Query<(Entity, &Transform), With<BlinkySquare>>,
+    cameras: Query<(&Camera, &GlobalTransform)>,
+) {
+    let (camera, camera_transform) = cameras.single().unwrap();
+    let mut delayed = commands.delayed();
+    for (entity, transform) in squares.iter() {
+        // convert the pointer position to world position
+        let mouse_world_pos = camera
+            .viewport_to_world_2d(camera_transform, click.pointer_location.position)
+            .unwrap();
+
+        // delay the blinkiness by distance to cursor
+        let dist = mouse_world_pos.distance(transform.translation.truncate());
+        let delay = dist / 1000.0;
+        delayed
+            .secs(delay)
+            .entity(entity)
+            .insert(Sprite::from_color(Color::WHITE, SQUARE_SIZE));
+        delayed
+            .secs(delay + 0.1)
+            .entity(entity)
+            .insert(Sprite::from_color(Color::BLACK, SQUARE_SIZE));
+    }
+}
diff --git a/release-content/release-notes/delayed_commands.md b/release-content/release-notes/delayed_commands.md
new file mode 100644
index 0000000000000..640012fed125e
--- /dev/null
+++ b/release-content/release-notes/delayed_commands.md
@@ -0,0 +1,28 @@
+---
+title: Delayed Commands
+authors: ["@Runi-c"]
+pull_requests: [23090]
+---
+
+Scheduling things to happen some time in the future is a common and useful tool in game development
+for everything from gameplay logic to VFX. To support common use-cases, Bevy now has a general mechanism
+for delaying commands to be executed after a specified duration.
+
+```rust
+fn delayed_spawn(mut commands: Commands) {
+    commands.delayed().secs(1.0).spawn(DummyComponent);
+}
+
+fn delayed_spawn_then_insert(mut commands: Commands) {
+    let mut delayed = commands.delayed();
+    let entity = delayed.secs(0.5).spawn_empty().id();
+    delayed.secs(1.5).entity(entity).insert(DummyComponent);
+}
+```
+
+Our goal for this mechanism is to provide a "good-enough" system for simple use-cases. As a result,
+there are certain limitations - for example, delayed commands are currently always ticked by the default
+clock during `PreUpdate` (typically `Time<Virtual>`).
+
+If you need something more sophisticated, you can always roll your own version of delayed commands using
+the new helpers added for this feature.