diff --git a/README.md b/README.md
index a53b85c..fc8d361 100644
--- a/README.md
+++ b/README.md
@@ -74,6 +74,7 @@ Every coroutine returns `Task<T>` and is launched with `ctx.create_task(...)`. T
 
 - [Getting Started](https://otamachan.github.io/rclcpp_async/getting-started/) -- prerequisites, installation, walkthrough
 - [Guide](https://otamachan.github.io/rclcpp_async/guide/) -- topics, services, actions, concurrency, cancellation, TF
+- [API Reference](https://otamachan.github.io/rclcpp_async/api-reference/) -- full list of public types and methods
 
 ## Benchmarks
 
diff --git a/docs/api-reference.md b/docs/api-reference.md
new file mode 100644
index 0000000..ec1049c
--- /dev/null
+++ b/docs/api-reference.md
@@ -0,0 +1,88 @@
+# API Reference
+
+## CoContext
+
+| Method | Returns | Description |
+|---|---|---|
+| `create_task(task)` | `Task<T>` | Start a coroutine |
+| `subscribe<MsgT>(topic, qos)` | `shared_ptr<TopicStream<MsgT>>` | Subscribe to a topic |
+| `create_timer(period)` | `shared_ptr<TimerStream>` | Create a periodic timer stream |
+| `create_service<SrvT>(name, cb)` | `shared_ptr<Service<SrvT>>` | Create a coroutine service server |
+| `create_action_server<ActT>(name, cb)` | `shared_ptr<Server<ActT>>` | Create a coroutine action server |
+| `wait_for_service(client, timeout)` | *awaitable* `Result<void>` | Wait for a service |
+| `send_request<SrvT>(client, req)` | *awaitable* `Response` | Call a service |
+| `wait_for_action(client, timeout)` | *awaitable* `Result<void>` | Wait for an action server |
+| `send_goal<ActT>(client, goal)` | *awaitable* `Result<shared_ptr<GoalStream>>` | Send an action goal |
+| `sleep(duration)` | *awaitable* `void` | Async sleep |
+| `poll_until(pred, interval, timeout)` | `Task<Result<void>>` | Poll until predicate is true or timeout |
+| `wait_for(awaitable, timeout)` | `Task<Result<T>>` | Race an awaitable against a timeout |
+| `post(fn)` | `void` | Post a callback to the executor thread (thread-safe) |
+| `node()` | `Node&` | Access the underlying node |
+
+## Free Functions
+
+| Function | Returns | Description |
+|---|---|---|
+| `create_single_goal_action_server<ActT>(ctx, name, cb)` | `shared_ptr<Server<ActT>>` | Single-goal action server with preemption |
+| `when_all(awaitables...)` | *awaitable* `tuple<Ts...>` | Await all tasks/awaitables concurrently |
+| `when_any(awaitables...)` | *awaitable* `variant<Ts...>` | Race tasks/awaitables, return first result |
+| `shield(task)` | *awaitable* `T` | Protect a task from parent cancellation |
+
+## Task
+
+| Method | Returns | Description |
+|---|---|---|
+| `operator bool()` | `bool` | `true` if the task holds a valid coroutine (not moved-from) |
+| `done()` | `bool` | `true` if the coroutine has completed (`false` for null tasks) |
+| `result()` | `T&` | Get the result of a completed `Task<T>` (rethrows if exception) |
+| `cancel()` | `void` | Request cancellation via `CancelledException` |
+
+## Result
+
+| Method | Returns | Description |
+|---|---|---|
+| `ok()` | `bool` | `true` if the operation succeeded |
+| `timeout()` | `bool` | `true` if the operation timed out |
+| `value` | `std::optional<T>` | The result value (present when `ok()` is `true`) |
+
+## GoalContext
+
+| Method | Returns | Description |
+|---|---|---|
+| `goal()` | `const Goal&` | Access the goal request |
+| `is_canceling()` | `bool` | Check if cancellation was requested |
+| `publish_feedback(fb)` | `void` | Send feedback to the client |
+| `abort()` | `void` | Abort the goal |
+
+## Event
+
+| Method | Returns | Description |
+|---|---|---|
+| `set()` | `void` | Signal the event, resuming all waiters |
+| `clear()` | `void` | Reset the event so future `wait()` calls will suspend |
+| `wait()` | *awaitable* `void` | Suspends until the event is set |
+| `is_set()` | `bool` | Check the current state |
+
+## Mutex
+
+| Method | Returns | Description |
+|---|---|---|
+| `lock()` | *awaitable* `void` | Suspends until the lock is acquired |
+| `unlock()` | `void` | Release the lock, resuming the next waiter |
+| `is_locked()` | `bool` | Check the current state |
+
+## Channel
+
+| Method | Returns | Description |
+|---|---|---|
+| `send(value)` | `void` | Send a value (thread-safe) |
+| `close()` | `void` | Signal end of stream |
+| `next()` | *awaitable* `optional<T>` | Receive the next value (`nullopt` when closed) |
+
+## TfBuffer
+
+| Method | Returns | Description |
+|---|---|---|
+| `TfBuffer(ctx)` | -- | Construct with a `CoContext`; starts a listener thread |
+| `lookup_transform(target, source)` | `optional<TransformStamped>` | Sync lookup of latest transform |
+| `lookup_transform(target, source, time)` | *awaitable* `TransformStamped` | Async lookup; suspends until available |
diff --git a/docs/index.md b/docs/index.md
index eb125d3..f44d99f 100644
--- a/docs/index.md
+++ b/docs/index.md
@@ -53,3 +53,4 @@ The standard `rclcpp::spin()` drives execution -- no special executor needed.
 
 - **[Getting Started](getting-started.md)** -- prerequisites, installation, and a walkthrough of the Quick Start example
 - **[Guide](guide.md)** -- topics, services, actions, concurrency primitives, cancellation, and TF lookups
+- **[API Reference](api-reference.md)** -- full list of public types and methods
diff --git a/mkdocs.yml b/mkdocs.yml
index a7b601b..f04a335 100644
--- a/mkdocs.yml
+++ b/mkdocs.yml
@@ -6,6 +6,7 @@ nav:
   - Home: index.md
   - Getting Started: getting-started.md
   - Guide: guide.md
+  - API Reference: api-reference.md
 
 theme:
   name: material