diff --git a/embassy-executor/Cargo.toml b/embassy-executor/Cargo.toml
index e2fedce3c8..fb566d4420 100644
--- a/embassy-executor/Cargo.toml
+++ b/embassy-executor/Cargo.toml
@@ -62,6 +62,8 @@ critical-section = { version = "1.1", features = ["std"] }
 ## Enable nightly-only features
 nightly = ["embassy-executor-macros/nightly"]
 
+alloc = []
+
 # Enables turbo wakers, which requires patching core. Not surfaced in the docs by default due to
 # being an complicated advanced and undocumented feature.
 # See: https://github.com/embassy-rs/embassy/pull/1263
diff --git a/embassy-executor/src/raw/mod.rs b/embassy-executor/src/raw/mod.rs
index d9ea5c0057..6744f74a73 100644
--- a/embassy-executor/src/raw/mod.rs
+++ b/embassy-executor/src/raw/mod.rs
@@ -45,7 +45,7 @@ pub(crate) struct TaskHeader {
     pub(crate) state: State,
     pub(crate) run_queue_item: RunQueueItem,
     pub(crate) executor: SyncUnsafeCell<Option<&'static SyncExecutor>>,
-    poll_fn: SyncUnsafeCell<Option<unsafe fn(TaskRef)>>,
+    pub(crate) poll_fn: SyncUnsafeCell<Option<unsafe fn(TaskRef)>>,
 
     #[cfg(feature = "integrated-timers")]
     pub(crate) expires_at: SyncUnsafeCell<u64>,
@@ -63,7 +63,7 @@ unsafe impl Send for TaskRef where &'static TaskHeader: Send {}
 unsafe impl Sync for TaskRef where &'static TaskHeader: Sync {}
 
 impl TaskRef {
-    fn new<F: Future + 'static>(task: &'static TaskStorage<F>) -> Self {
+    pub(crate) fn new<F: Future + 'static>(task: &'static TaskStorage<F>) -> Self {
         Self {
             ptr: NonNull::from(task).cast(),
         }
@@ -103,8 +103,8 @@ impl TaskRef {
 // This makes it safe to cast between TaskHeader and TaskStorage pointers.
 #[repr(C)]
 pub struct TaskStorage<F: Future + 'static> {
-    raw: TaskHeader,
-    future: UninitCell<F>, // Valid if STATE_SPAWNED
+    pub(crate) raw: TaskHeader,
+    pub(crate) future: UninitCell<F>, // Valid if STATE_SPAWNED
 }
 
 impl<F: Future + 'static> TaskStorage<F> {
@@ -150,7 +150,7 @@ impl<F: Future + 'static> TaskStorage<F> {
         }
     }
 
-    unsafe fn poll(p: TaskRef) {
+    pub(crate) unsafe fn poll(p: TaskRef) {
         let this = &*(p.as_ptr() as *const TaskStorage<F>);
 
         let future = Pin::new_unchecked(this.future.as_mut());
diff --git a/embassy-executor/src/spawner.rs b/embassy-executor/src/spawner.rs
index 2716062445..71f4a7784e 100644
--- a/embassy-executor/src/spawner.rs
+++ b/embassy-executor/src/spawner.rs
@@ -5,6 +5,9 @@ use core::task::Poll;
 
 use super::raw;
 
+#[cfg(feature = "alloc")]
+extern crate alloc;
+
 /// Token to spawn a newly-created task in an executor.
 ///
 /// When calling a task function (like `#[embassy_executor::task] async fn my_task() { ... }`), the returned
@@ -59,6 +62,10 @@ pub enum SpawnError {
     /// running at a time. You may allow multiple instances to run in parallel with
     /// `#[embassy_executor::task(pool_size = 4)]`, at the cost of higher RAM usage.
     Busy,
+
+    #[cfg(feature = "alloc")]
+    /// Out of memory.
+    OOM,
 }
 
 /// Handle to spawn tasks into an executor.
@@ -115,6 +122,36 @@ impl Spawner {
         }
     }
 
+    #[cfg(feature = "alloc")]
+    /// Spawn a dynamically allocated task into the executor.
+    /// LIMITATIONS AND WARNINGS:
+    /// 1. `future` must be a closure of the form `move || my_async_fn(args)`, where `my_async_fn`
+    ///     is an `async fn`, NOT a hand-written `Future`.
+    /// 2. `my_async_fn` must never return (runs forever).
+    pub fn spawn_fut<F: core::future::Future + 'static, FutFn: FnOnce() -> F>(&self, future: FutFn) -> Result<(), SpawnError> {
+        use alloc::alloc::{alloc, Layout};
+        use crate::raw::{TaskRef, TaskStorage};
+
+        let task_storage = unsafe {
+            let layout = Layout::new::<TaskStorage<F>>();
+            let task_storage = alloc(layout) as *mut TaskStorage<F>;
+            if task_storage.is_null() {
+                return Err(SpawnError::OOM);
+            }
+            task_storage.write(TaskStorage::<F>::new());
+            let task_storage = &mut *task_storage;
+            task_storage.raw.state.spawn();
+            task_storage.raw.poll_fn.set(Some(TaskStorage::<F>::poll));
+            task_storage.future.write_in_place(future);
+            task_storage
+        };
+
+        let task_ref = TaskRef::new(task_storage);
+        let token = unsafe { SpawnToken::<F>::new(task_ref) };
+        self.spawn(token).unwrap();
+        Ok(())
+    }
+
     // Used by the `embassy_executor_macros::main!` macro to throw an error when spawn
     // fails. This is here to allow conditional use of `defmt::unwrap!`
     // without introducing a `defmt` feature in the `embassy_executor_macros` package,
@@ -186,6 +223,36 @@ impl SendSpawner {
         }
     }
 
+    #[cfg(feature = "alloc")]
+    /// Spawn a dynamically allocated task into the executor.
+    /// LIMITATIONS AND WARNINGS:
+    /// 1. `future` must be a closure of the form `move || my_async_fn(args)`, where `my_async_fn`
+    ///     is an `async fn`, NOT a hand-written `Future`.
+    /// 2. `my_async_fn` must never return (runs forever).
+    pub fn spawn_fut<F: core::future::Future + 'static, FutFn: (FnOnce() -> F) + Send>(&self, future: FutFn) -> Result<(), SpawnError> {
+        use alloc::alloc::{alloc, Layout};
+        use crate::raw::{TaskRef, TaskStorage};
+
+        let task_storage = unsafe {
+            let layout = Layout::new::<TaskStorage<F>>();
+            let task_storage = alloc(layout) as *mut TaskStorage<F>;
+            if task_storage.is_null() {
+                return Err(SpawnError::OOM);
+            }
+            task_storage.write(TaskStorage::<F>::new());
+            let task_storage = &mut *task_storage;
+            task_storage.raw.state.spawn();
+            task_storage.raw.poll_fn.set(Some(TaskStorage::<F>::poll));
+            task_storage.future.write_in_place(future);
+            task_storage
+        };
+
+        let task_ref = TaskRef::new(task_storage);
+        let token = unsafe { SpawnToken::<FutFn>::new(task_ref) };
+        self.spawn(token).unwrap();
+        Ok(())
+    }
+
     /// Spawn a task into an executor, panicking on failure.
     ///
     /// # Panics