This study aimed to gain insight into the sexual experiences of adults with intellectual disabilities (ID) and the support they receive from residential staff in expressing their sexuality. A semi-structured interview protocol, informed by existing literature was developed. Participants with ID, with or without sensory and/or physical disabilities, were recruited from (semi-)residential facilities. Facility staff received training to conduct interviews with participants. Fifteen adults with ID (seven women, age range 23–60 years, most with additional disabilities) were interviewed. Most participants demonstrated an understanding of relationships, love, and sexuality, with varying personal experiences. Dating primarily took place within familiar circles. While structured discussions about sexuality with support staff were uncommon, participants generally received positive messages emphasizing personal agency and safety. However, there was a need for more comprehensive and repeated sex education, covering topics such as flirting and communication skills. Privacy concerns varied among participants, often influenced by staff attitudes toward sexuality. Some discomfort in discussing sexuality was noted, particularly in communal living environments where a culture of secrecy or ridicule prevailed. The study suggests that normalizing discussions about sexuality could encourage clients to ask questions more freely. Future research should include individuals with a wider range of disabilities, including those with moderate to severe ID. In addition, staff training and organizational policies regarding sexuality in care settings should be further explored. The study also recommends integrating sex education into care practices, enhancing professional training, and providing ongoing comprehensive information on sexuality.