diff --git a/components/esp32_ble_server.rst b/components/esp32_ble_server.rst
index c4f1ca6090..5ed66bd3c7 100644
--- a/components/esp32_ble_server.rst
+++ b/components/esp32_ble_server.rst
@@ -23,8 +23,13 @@ data and control.
 
     esp32_ble_server:
       manufacturer: "Orange"
-      manufacturer_data: [0x4C, 0, 0x23, 77, 0xF0 ]
-
+      manufacturer_data: [ 0x4C, 0, 0x23, 77, 0xF0 ]
+      services:
+        - service_uuid: 37000000-82c9-4adb-90cd-792b53207775
+          characteristics:
+            - characteristic_uuid: 37000001-82c9-4adb-90cd-792b53207775
+              properties:
+                - read
 
 Configuration variables:
 ------------------------
@@ -35,6 +40,98 @@ Configuration variables:
 - **manufacturer_data** (*Optional*, list of bytes): The manufacturer-specific data to include in the advertising
   packet. Should be a list of bytes, where the first two are the little-endian representation of the 16-bit
   manufacturer ID as assigned by the Bluetooth SIG.
+- **services** (*Optional*, list of services): The list of custom services to be created. See :ref:`service-schema`.
+
+.. _service-schema:
+
+Service Schema
+--------------
+
+- **service_uuid** (*Required*, UUID): The UUID of the service.
+- **advertise** (*Optional*, boolean): Whether service should be advertised. Defaults to ``false``.
+- **handles** (*Optional*, int): The number of handles to be allocated for the service.
+  Defaults to ``1 + characteristic_count x 2``.
+- **instance_id** (*Optional*, int): The instance ID of the service. Defaults to ``0``.
+- **characteristics** (*Required*, list): The list of characteristics this service should expose. See
+  :ref:`characteristic-schema`.
+
+.. _characteristic-schema:
+
+Characteristic Schema
+---------------------
+
+- **id** (*Optional*, :ref:`config-id`): The ID to use for code generation and for reference by actions.
+- **characteristic_uuid** (*Required*, UUID): The UUID of the characteristic.
+- **properties** (*Required*, list): The list of enabled properties. At least one should be provided. Available options:
+    - **read**
+    - **write**
+    - **notify**
+    - **broadcast**
+    - **indicate**
+    - **write_without_response**
+- **on_write** (*Optional*, :ref:`Automation <automation>`): An automation to perform when characteristic
+  receives new value via **write** or **write_without_response** BLE event. See :ref:`ble_characteristic-on_write`.
+
+BLE Characteristic Automation
+-----------------------------
+
+.. _ble_characteristic-on_write:
+
+``on_write``
+------------
+
+This automation is triggered when the client writes to BLE characteristic.
+A variable ``data`` of type ``std::vector<uint8_t>`` with written data is passed to the automation for use in lambdas.
+
+.. code-block:: yaml
+
+    esp32_ble_server:
+      services:
+        - service_uuid: 37000000-82c9-4adb-90cd-792b53207775
+          characteristics:
+            - characteristic_uuid: 37000001-82c9-4adb-90cd-792b53207775
+              properties:
+                - write
+              on_write:
+                - lambda: |-
+                    ESP_LOGE("HUD", "Break signal: %d", data[0] >> 0 & 1);
+
+``ble_characteristic.set_value`` Action
+---------------------------------------
+
+This action sets value in specific BLE characteristic. If characteristic supports **notify** or **indicate**
+property then client can be also notified of characteristic's value change.
+
+Example usage:
+
+.. code-block:: yaml
+
+    esp32_ble_server:
+      services:
+        - service_uuid: 37000000-82c9-4adb-90cd-792b53207775
+          characteristics:
+            - id: signals_char
+              characteristic_uuid: 37000001-82c9-4adb-90cd-792b53207775
+              properties:
+                - read
+                - notify
+
+    button:
+      - platform: template
+        name: Break
+        on_press:
+          - ble_characteristic.set_value:
+              id: signals_char
+              value: [ 0x01 ]
+              notify: true
+
+Configuration variables:
+
+- **id** (**Required**, :ref:`config-id`): The ID of the associated BLE characteristic.
+- **value** (**Required**, Array of bytes or :ref:`lambda <config-lambda>`): The value to be written.
+- **notify** (**Required**, boolean): Whether characteristic should notify clients of a value change.
+  Only available if characteristic has **notify** or **indicate** property set.
+  Defaults to ``false``.
 
 See Also
 --------