diff --git a/.changeset/big-phones-refuse.md b/.changeset/big-phones-refuse.md
new file mode 100644
index 0000000000..51609dc6e2
--- /dev/null
+++ b/.changeset/big-phones-refuse.md
@@ -0,0 +1,35 @@
+---
+'xstate': minor
+---
+
+The new `emit(…)` action creator emits events that can be received by listeners. Actors are now event emitters.
+
+```ts
+import { emit } from 'xstate';
+
+const machine = createMachine({
+  // ...
+  on: {
+    something: {
+      actions: emit({
+        type: 'emitted',
+        some: 'data'
+      })
+    }
+  }
+  // ...
+});
+
+const actor = createActor(machine).start();
+
+actor.on('emitted', (event) => {
+  console.log(event);
+});
+
+actor.send({ type: 'something' });
+// logs:
+// {
+//   type: 'emitted',
+//   some: 'data'
+// }
+```
diff --git a/packages/core/src/State.ts b/packages/core/src/State.ts
index 984e9cd3a1..b2a96f0f93 100644
--- a/packages/core/src/State.ts
+++ b/packages/core/src/State.ts
@@ -68,7 +68,8 @@ interface MachineSnapshotBase<
     TStateValue,
     TTag,
     unknown,
-    TOutput
+    TOutput,
+    EventObject // TEmitted
   >;
   /**
    * The tags of the active state nodes that represent the current state value.
diff --git a/packages/core/src/StateMachine.ts b/packages/core/src/StateMachine.ts
index 22bef4e0ad..8c03a458c7 100644
--- a/packages/core/src/StateMachine.ts
+++ b/packages/core/src/StateMachine.ts
@@ -65,6 +65,7 @@ export class StateMachine<
   TTag extends string,
   TInput,
   TOutput,
+  TEmitted extends EventObject = EventObject, // TODO: remove default
   TResolvedTypesMeta = ResolveTypegenMeta<
     TypegenDisabled,
     NoInfer<TEvent>,
@@ -72,14 +73,16 @@ export class StateMachine<
     TAction,
     TGuard,
     TDelay,
-    TTag
+    TTag,
+    TEmitted
   >
 > implements
     ActorLogic<
       MachineSnapshot<TContext, TEvent, TChildren, TStateValue, TTag, TOutput>,
       TEvent,
       TInput,
-      AnyActorSystem
+      AnyActorSystem,
+      TEmitted
     >
 {
   /**
@@ -190,6 +193,7 @@ export class StateMachine<
     TTag,
     TInput,
     TOutput,
+    TEmitted,
     TResolvedTypesMeta
   > {
     const { actions, guards, actors, delays } = this.implementations;
@@ -259,7 +263,7 @@ export class StateMachine<
       TOutput
     >,
     event: TEvent,
-    actorScope: ActorScope<typeof snapshot, TEvent>
+    actorScope: ActorScope<typeof snapshot, TEvent, AnyActorSystem, TEmitted>
   ): MachineSnapshot<TContext, TEvent, TChildren, TStateValue, TTag, TOutput> {
     return macrostep(snapshot, event, actorScope).snapshot as typeof snapshot;
   }
@@ -345,7 +349,9 @@ export class StateMachine<
   public getInitialSnapshot(
     actorScope: ActorScope<
       MachineSnapshot<TContext, TEvent, TChildren, TStateValue, TTag, TOutput>,
-      TEvent
+      TEvent,
+      AnyActorSystem,
+      TEmitted
     >,
     input?: TInput
   ): MachineSnapshot<TContext, TEvent, TChildren, TStateValue, TTag, TOutput> {
@@ -445,7 +451,9 @@ export class StateMachine<
     snapshot: Snapshot<unknown>,
     _actorScope: ActorScope<
       MachineSnapshot<TContext, TEvent, TChildren, TStateValue, TTag, TOutput>,
-      TEvent
+      TEvent,
+      AnyActorSystem,
+      TEmitted
     >
   ): MachineSnapshot<TContext, TEvent, TChildren, TStateValue, TTag, TOutput> {
     const children: Record<string, AnyActorRef> = {};
diff --git a/packages/core/src/StateNode.ts b/packages/core/src/StateNode.ts
index db0a830369..bc1aba2926 100644
--- a/packages/core/src/StateNode.ts
+++ b/packages/core/src/StateNode.ts
@@ -128,6 +128,7 @@ export class StateNode<
     any, // tag
     any, // input
     any, // output
+    any, // emitted
     any // typegen
   >;
   /**
@@ -159,12 +160,13 @@ export class StateNode<
     public config: StateNodeConfig<
       TContext,
       TEvent,
-      TODO, // actions
       TODO, // actors
-      TODO, // output
+      TODO, // actions
       TODO, // guards
       TODO, // delays
-      TODO // tags
+      TODO, // tags
+      TODO, // output
+      TODO // emitted
     >,
     options: StateNodeOptions<TContext, TEvent>
   ) {
diff --git a/packages/core/src/actions/assign.ts b/packages/core/src/actions/assign.ts
index 4bbb906beb..9d33903425 100644
--- a/packages/core/src/actions/assign.ts
+++ b/packages/core/src/actions/assign.ts
@@ -153,6 +153,7 @@ export function assign<
   TActor,
   never,
   never,
+  never,
   never
 > {
   function assign(
diff --git a/packages/core/src/actions/emit.ts b/packages/core/src/actions/emit.ts
new file mode 100644
index 0000000000..ace91965ec
--- /dev/null
+++ b/packages/core/src/actions/emit.ts
@@ -0,0 +1,140 @@
+import isDevelopment from '#is-development';
+import {
+  ActionArgs,
+  AnyActorScope,
+  AnyMachineSnapshot,
+  EventObject,
+  MachineContext,
+  SendExpr,
+  ParameterizedObject,
+  ActionFunction
+} from '../types.ts';
+
+function resolveEmit(
+  _: AnyActorScope,
+  snapshot: AnyMachineSnapshot,
+  args: ActionArgs<any, any, any>,
+  actionParams: ParameterizedObject['params'] | undefined,
+  {
+    event: eventOrExpr
+  }: {
+    event:
+      | EventObject
+      | SendExpr<
+          MachineContext,
+          EventObject,
+          ParameterizedObject['params'] | undefined,
+          EventObject,
+          EventObject
+        >;
+  }
+) {
+  if (isDevelopment && typeof eventOrExpr === 'string') {
+    throw new Error(
+      `Only event objects may be used with emit; use emit({ type: "${eventOrExpr}" }) instead`
+    );
+  }
+  const resolvedEvent =
+    typeof eventOrExpr === 'function'
+      ? eventOrExpr(args, actionParams)
+      : eventOrExpr;
+  return [snapshot, { event: resolvedEvent }];
+}
+
+function executeEmit(
+  actorScope: AnyActorScope,
+  {
+    event
+  }: {
+    event: EventObject;
+  }
+) {
+  actorScope.defer(() => actorScope.emit(event));
+}
+
+export interface EmitAction<
+  TContext extends MachineContext,
+  TExpressionEvent extends EventObject,
+  TParams extends ParameterizedObject['params'] | undefined,
+  TEvent extends EventObject,
+  TEmitted extends EventObject
+> {
+  (args: ActionArgs<TContext, TExpressionEvent, TEvent>, params: TParams): void;
+  _out_TEmitted?: TEmitted;
+}
+
+/**
+ * Emits an event to event handlers registered on the actor via `actor.on(event, handler)`.
+ *
+ * @example
+  ```ts
+  import { emit } from 'xstate';
+
+  const machine = createMachine({
+    // ...
+    on: {
+      something: {
+        actions: emit({
+          type: 'emitted',
+          some: 'data'
+        })
+      }
+    }
+    // ...
+  });
+
+  const actor = createActor(machine).start();
+
+  actor.on('emitted', (event) => {
+    console.log(event);
+  });
+
+  actor.send({ type: 'something' });
+  // logs:
+  // {
+  //   type: 'emitted',
+  //   some: 'data'
+  // }
+  ```
+ */
+export function emit<
+  TContext extends MachineContext,
+  TExpressionEvent extends EventObject,
+  TParams extends ParameterizedObject['params'] | undefined,
+  TEvent extends EventObject,
+  TEmitted extends EventObject
+>(
+  /**
+   * The event to emit, or an expression that returns an event to emit.
+   */
+  eventOrExpr:
+    | TEmitted
+    | SendExpr<TContext, TExpressionEvent, TParams, TEmitted, TEvent>
+): ActionFunction<
+  TContext,
+  TExpressionEvent,
+  TEvent,
+  TParams,
+  never,
+  never,
+  never,
+  never,
+  TEmitted
+> {
+  function emit(
+    args: ActionArgs<TContext, TExpressionEvent, TEvent>,
+    params: TParams
+  ) {
+    if (isDevelopment) {
+      throw new Error(`This isn't supposed to be called`);
+    }
+  }
+
+  emit.type = 'xstate.emit';
+  emit.event = eventOrExpr;
+
+  emit.resolve = resolveEmit;
+  emit.execute = executeEmit;
+
+  return emit;
+}
diff --git a/packages/core/src/actions/enqueueActions.ts b/packages/core/src/actions/enqueueActions.ts
index ff3a715d88..b90856a67c 100644
--- a/packages/core/src/actions/enqueueActions.ts
+++ b/packages/core/src/actions/enqueueActions.ts
@@ -15,6 +15,7 @@ import {
 } from '../types.ts';
 import { assign } from './assign.ts';
 import { cancel } from './cancel.ts';
+import { emit } from './emit.ts';
 import { raise } from './raise.ts';
 import { sendTo } from './send.ts';
 import { spawnChild } from './spawnChild.ts';
@@ -27,7 +28,8 @@ interface ActionEnqueuer<
   TActor extends ProvidedActor,
   TAction extends ParameterizedObject,
   TGuard extends ParameterizedObject,
-  TDelay extends string
+  TDelay extends string,
+  TEmitted extends EventObject
 > {
   (
     action: Action<
@@ -38,7 +40,8 @@ interface ActionEnqueuer<
       TActor,
       TAction,
       TGuard,
-      TDelay
+      TDelay,
+      TEmitted
     >
   ): void;
   assign: (
@@ -86,6 +89,11 @@ interface ActionEnqueuer<
       typeof stopChild<TContext, TExpressionEvent, undefined, TEvent>
     >
   ) => void;
+  emit: (
+    ...args: Parameters<
+      typeof emit<TContext, TExpressionEvent, undefined, TEvent, TEmitted>
+    >
+  ) => void;
 }
 
 function resolveEnqueueActions(
@@ -104,7 +112,8 @@ function resolveEnqueueActions(
       ProvidedActor,
       ParameterizedObject,
       ParameterizedObject,
-      string
+      string,
+      EventObject
     >;
   }
 ) {
@@ -136,6 +145,9 @@ function resolveEnqueueActions(
   enqueue.stopChild = (...args) => {
     actions.push(stopChild(...args));
   };
+  enqueue.emit = (...args) => {
+    actions.push(emit(...args));
+  };
 
   collect(
     {
@@ -178,7 +190,8 @@ interface CollectActionsArg<
   TActor extends ProvidedActor,
   TAction extends ParameterizedObject,
   TGuard extends ParameterizedObject,
-  TDelay extends string
+  TDelay extends string,
+  TEmitted extends EventObject
 > extends UnifiedArg<TContext, TExpressionEvent, TEvent> {
   check: (
     guard: Guard<TContext, TExpressionEvent, undefined, TGuard>
@@ -190,7 +203,8 @@ interface CollectActionsArg<
     TActor,
     TAction,
     TGuard,
-    TDelay
+    TDelay,
+    TEmitted
   >;
 }
 
@@ -202,7 +216,8 @@ type CollectActions<
   TActor extends ProvidedActor,
   TAction extends ParameterizedObject,
   TGuard extends ParameterizedObject,
-  TDelay extends string
+  TDelay extends string,
+  TEmitted extends EventObject
 > = (
   {
     context,
@@ -217,7 +232,8 @@ type CollectActions<
     TActor,
     TAction,
     TGuard,
-    TDelay
+    TDelay,
+    TEmitted
   >,
   params: TParams
 ) => void;
@@ -250,7 +266,8 @@ export function enqueueActions<
   TActor extends ProvidedActor = ProvidedActor,
   TAction extends ParameterizedObject = ParameterizedObject,
   TGuard extends ParameterizedObject = ParameterizedObject,
-  TDelay extends string = never
+  TDelay extends string = never,
+  TEmitted extends EventObject = EventObject
 >(
   collect: CollectActions<
     TContext,
@@ -260,7 +277,8 @@ export function enqueueActions<
     TActor,
     TAction,
     TGuard,
-    TDelay
+    TDelay,
+    TEmitted
   >
 ): ActionFunction<
   TContext,
@@ -270,7 +288,8 @@ export function enqueueActions<
   TActor,
   TAction,
   TGuard,
-  TDelay
+  TDelay,
+  TEmitted
 > {
   function enqueueActions(
     args: ActionArgs<TContext, TExpressionEvent, TEvent>,
diff --git a/packages/core/src/actions/raise.ts b/packages/core/src/actions/raise.ts
index ddc7af0c66..6f935c4af0 100644
--- a/packages/core/src/actions/raise.ts
+++ b/packages/core/src/actions/raise.ts
@@ -138,7 +138,8 @@ export function raise<
   never,
   never,
   never,
-  TDelay
+  TDelay,
+  never
 > {
   function raise(
     args: ActionArgs<TContext, TExpressionEvent, TEvent>,
diff --git a/packages/core/src/actions/send.ts b/packages/core/src/actions/send.ts
index 815285fef1..a02ff05e9c 100644
--- a/packages/core/src/actions/send.ts
+++ b/packages/core/src/actions/send.ts
@@ -230,7 +230,8 @@ export function sendTo<
   never,
   never,
   never,
-  TDelay
+  TDelay,
+  never
 > {
   function sendTo(
     args: ActionArgs<TContext, TExpressionEvent, TEvent>,
@@ -298,11 +299,11 @@ type Target<
   TEvent extends EventObject
 > =
   | string
-  | ActorRef<any, any>
+  | AnyActorRef
   | ((
       args: ActionArgs<TContext, TExpressionEvent, TEvent>,
       params: TParams
-    ) => string | ActorRef<any, any>);
+    ) => string | AnyActorRef);
 
 /**
  * Forwards (sends) an event to the `target` actor.
diff --git a/packages/core/src/actions/spawnChild.ts b/packages/core/src/actions/spawnChild.ts
index aa383919ec..6312e2f724 100644
--- a/packages/core/src/actions/spawnChild.ts
+++ b/packages/core/src/actions/spawnChild.ts
@@ -192,6 +192,7 @@ export function spawnChild<
   TActor,
   never,
   never,
+  never,
   never
 > {
   function spawnChild(
diff --git a/packages/core/src/actions/stopChild.ts b/packages/core/src/actions/stopChild.ts
index e979d2a031..2f0f1b6917 100644
--- a/packages/core/src/actions/stopChild.ts
+++ b/packages/core/src/actions/stopChild.ts
@@ -4,6 +4,7 @@ import { ProcessingStatus } from '../createActor.ts';
 import {
   ActionArgs,
   ActorRef,
+  AnyActorRef,
   AnyActorScope,
   AnyMachineSnapshot,
   EventObject,
@@ -18,11 +19,11 @@ type ResolvableActorRef<
   TEvent extends EventObject
 > =
   | string
-  | ActorRef<any, any>
+  | AnyActorRef
   | ((
       args: ActionArgs<TContext, TExpressionEvent, TEvent>,
       params: TParams
-    ) => ActorRef<any, any> | string);
+    ) => AnyActorRef | string);
 
 function resolveStop(
   _: AnyActorScope,
@@ -33,7 +34,7 @@ function resolveStop(
 ) {
   const actorRefOrString =
     typeof actorRef === 'function' ? actorRef(args, actionParams) : actorRef;
-  const resolvedActorRef: ActorRef<any, any> | undefined =
+  const resolvedActorRef: AnyActorRef | undefined =
     typeof actorRefOrString === 'string'
       ? snapshot.children[actorRefOrString]
       : actorRefOrString;
@@ -52,7 +53,7 @@ function resolveStop(
 }
 function executeStop(
   actorScope: AnyActorScope,
-  actorRef: ActorRef<any, any> | undefined
+  actorRef: AnyActorRef | undefined
 ) {
   if (!actorRef) {
     return;
diff --git a/packages/core/src/actors/callback.ts b/packages/core/src/actors/callback.ts
index 4c9c7bfd23..c8ed9df29d 100644
--- a/packages/core/src/actors/callback.ts
+++ b/packages/core/src/actors/callback.ts
@@ -27,7 +27,13 @@ export type CallbackSnapshot<TInput> = Snapshot<undefined> & {
 export type CallbackActorLogic<
   TEvent extends EventObject,
   TInput = NonReducibleUnknown
-> = ActorLogic<CallbackSnapshot<TInput>, TEvent, TInput, AnyActorSystem>;
+> = ActorLogic<
+  CallbackSnapshot<TInput>,
+  TEvent,
+  TInput,
+  AnyActorSystem,
+  EventObject // TEmitted
+>;
 
 export type CallbackActorRef<
   TEvent extends EventObject,
diff --git a/packages/core/src/actors/observable.ts b/packages/core/src/actors/observable.ts
index 99b3d29e13..6fddbe8aa6 100644
--- a/packages/core/src/actors/observable.ts
+++ b/packages/core/src/actors/observable.ts
@@ -30,7 +30,8 @@ export type ObservableActorLogic<
   ObservableSnapshot<TContext, TInput>,
   { type: string; [k: string]: unknown },
   TInput,
-  AnyActorSystem
+  AnyActorSystem,
+  EventObject // TEmitted
 >;
 
 export type ObservableActorRef<TContext> = ActorRefFrom<
diff --git a/packages/core/src/actors/promise.ts b/packages/core/src/actors/promise.ts
index 65d9c0d630..036ef9b1ae 100644
--- a/packages/core/src/actors/promise.ts
+++ b/packages/core/src/actors/promise.ts
@@ -3,6 +3,7 @@ import { AnyActorSystem } from '../system.ts';
 import {
   ActorLogic,
   ActorRefFrom,
+  EventObject,
   NonReducibleUnknown,
   Snapshot
 } from '../types.ts';
@@ -18,7 +19,8 @@ export type PromiseActorLogic<TOutput, TInput = unknown> = ActorLogic<
   PromiseSnapshot<TOutput, TInput>,
   { type: string; [k: string]: unknown },
   TInput, // input
-  AnyActorSystem
+  AnyActorSystem,
+  EventObject // TEmitted
 >;
 
 export type PromiseActorRef<TOutput> = ActorRefFrom<
diff --git a/packages/core/src/actors/transition.ts b/packages/core/src/actors/transition.ts
index f4da5a2718..c474c95a57 100644
--- a/packages/core/src/actors/transition.ts
+++ b/packages/core/src/actors/transition.ts
@@ -15,8 +15,15 @@ export type TransitionSnapshot<TContext> = Snapshot<undefined> & {
 export type TransitionActorLogic<
   TContext,
   TEvent extends EventObject,
-  TInput extends NonReducibleUnknown
-> = ActorLogic<TransitionSnapshot<TContext>, TEvent, TInput, AnyActorSystem>;
+  TInput extends NonReducibleUnknown,
+  TEmitted extends EventObject = EventObject
+> = ActorLogic<
+  TransitionSnapshot<TContext>,
+  TEvent,
+  TInput,
+  AnyActorSystem,
+  TEmitted
+>;
 
 export type TransitionActorRef<
   TContext,
@@ -87,7 +94,8 @@ export function fromTransition<
   TContext,
   TEvent extends EventObject,
   TSystem extends AnyActorSystem,
-  TInput extends NonReducibleUnknown
+  TInput extends NonReducibleUnknown,
+  TEmitted extends EventObject = EventObject
 >(
   transition: (
     snapshot: TContext,
@@ -103,7 +111,7 @@ export function fromTransition<
         input: TInput;
         self: TransitionActorRef<TContext, TEvent>;
       }) => TContext) // TODO: type
-): TransitionActorLogic<TContext, TEvent, TInput> {
+): TransitionActorLogic<TContext, TEvent, TInput, TEmitted> {
   return {
     config: transition,
     transition: (snapshot, event, actorScope) => {
diff --git a/packages/core/src/createActor.ts b/packages/core/src/createActor.ts
index 26c0bbf0fa..fa5820f4c1 100644
--- a/packages/core/src/createActor.ts
+++ b/packages/core/src/createActor.ts
@@ -14,8 +14,10 @@ import { AnyActorSystem, Clock, createSystem } from './system.ts';
 import type {
   ActorScope,
   AnyActorLogic,
+  AnyActorRef,
   ConditionalRequired,
   DoneActorEvent,
+  EmittedFrom,
   EventFromLogic,
   InputFrom,
   IsNotNever,
@@ -69,7 +71,8 @@ const defaultOptions = {
  * An Actor is a running process that can receive events, send events and change its behavior based on the events it receives, which can cause effects outside of the actor. When you run a state machine, it becomes an actor.
  */
 export class Actor<TLogic extends AnyActorLogic>
-  implements ActorRef<SnapshotFrom<TLogic>, EventFromLogic<TLogic>>
+  implements
+    ActorRef<SnapshotFrom<TLogic>, EventFromLogic<TLogic>, EmittedFrom<TLogic>>
 {
   /**
    * The current internal state of the actor.
@@ -91,21 +94,30 @@ export class Actor<TLogic extends AnyActorLogic>
   );
 
   private observers: Set<Observer<SnapshotFrom<TLogic>>> = new Set();
+  private eventListeners: Map<
+    string,
+    Set<(emittedEvent: EmittedFrom<TLogic>) => void>
+  > = new Map();
   private logger: (...args: any[]) => void;
 
   /** @internal */
   public _processingStatus: ProcessingStatus = ProcessingStatus.NotStarted;
 
   // Actor Ref
-  public _parent?: ActorRef<any, any>;
+  public _parent?: AnyActorRef;
   /** @internal */
   public _syncSnapshot?: boolean;
-  public ref: ActorRef<SnapshotFrom<TLogic>, EventFromLogic<TLogic>>;
+  public ref: ActorRef<
+    SnapshotFrom<TLogic>,
+    EventFromLogic<TLogic>,
+    EmittedFrom<TLogic>
+  >;
   // TODO: add typings for system
   private _actorScope: ActorScope<
     SnapshotFrom<TLogic>,
     EventFromLogic<TLogic>,
-    any
+    AnyActorSystem,
+    EmittedFrom<TLogic>
   >;
 
   private _systemId: string | undefined;
@@ -178,6 +190,15 @@ export class Actor<TLogic extends AnyActorLogic>
           );
         }
         (child as any)._stop();
+      },
+      emit: (emittedEvent) => {
+        const listeners = this.eventListeners.get(emittedEvent.type);
+        if (!listeners) {
+          return;
+        }
+        for (const handler of Array.from(listeners)) {
+          handler(emittedEvent);
+        }
       }
     };
 
@@ -397,6 +418,25 @@ export class Actor<TLogic extends AnyActorLogic>
     };
   }
 
+  public on<TType extends EmittedFrom<TLogic>['type']>(
+    type: TType,
+    handler: (emitted: EmittedFrom<TLogic> & { type: TType }) => void
+  ): Subscription {
+    let listeners = this.eventListeners.get(type);
+    if (!listeners) {
+      listeners = new Set();
+      this.eventListeners.set(type, listeners);
+    }
+    const wrappedHandler = handler.bind(undefined);
+    listeners.add(wrappedHandler);
+
+    return {
+      unsubscribe: () => {
+        listeners!.delete(wrappedHandler);
+      }
+    };
+  }
+
   /**
    * Starts the Actor from the initial state
    */
diff --git a/packages/core/src/createMachine.ts b/packages/core/src/createMachine.ts
index 9cc8d94593..16e1e06c31 100644
--- a/packages/core/src/createMachine.ts
+++ b/packages/core/src/createMachine.ts
@@ -6,6 +6,7 @@ import {
 } from './typegenTypes.ts';
 import {
   AnyActorRef,
+  EventObject,
   AnyEventObject,
   Cast,
   InternalMachineImplementations,
@@ -115,6 +116,7 @@ export function createMachine<
   TTag extends string,
   TInput,
   TOutput extends NonReducibleUnknown,
+  TEmitted extends EventObject,
   // it's important to have at least one default type parameter here
   // it allows us to benefit from contextual type instantiation as it makes us to pass the hasInferenceCandidatesOrDefault check in the compiler
   // we should be able to remove this when we start inferring TConfig, with it we'll always have an inference candidate
@@ -131,6 +133,7 @@ export function createMachine<
       TTag,
       TInput,
       TOutput,
+      TEmitted,
       TTypesMeta
     >;
     schemas?: unknown;
@@ -144,6 +147,7 @@ export function createMachine<
     TTag,
     TInput,
     TOutput,
+    TEmitted,
     TTypesMeta
   >,
   implementations?: InternalMachineImplementations<
@@ -155,7 +159,8 @@ export function createMachine<
       TAction,
       TGuard,
       TDelay,
-      TTag
+      TTag,
+      TEmitted
     >
   >
 ): StateMachine<
@@ -177,14 +182,25 @@ export function createMachine<
       TAction,
       TGuard,
       TDelay,
-      TTag
+      TTag,
+      TEmitted
     >['resolved'],
     'tags'
   > &
     string,
   TInput,
   TOutput,
-  ResolveTypegenMeta<TTypesMeta, TEvent, TActor, TAction, TGuard, TDelay, TTag>
+  TEmitted,
+  ResolveTypegenMeta<
+    TTypesMeta,
+    TEvent,
+    TActor,
+    TAction,
+    TGuard,
+    TDelay,
+    TTag,
+    TEmitted
+  >
 > {
   return new StateMachine<
     any,
@@ -198,6 +214,7 @@ export function createMachine<
     any,
     any,
     any,
+    any, // TEmitted
     any
   >(config as any, implementations as any);
 }
diff --git a/packages/core/src/getNextSnapshot.ts b/packages/core/src/getNextSnapshot.ts
index 0ef191fed0..611fcbaff0 100644
--- a/packages/core/src/getNextSnapshot.ts
+++ b/packages/core/src/getNextSnapshot.ts
@@ -3,6 +3,7 @@ import {
   ActorScope,
   AnyActorLogic,
   AnyActorScope,
+  EmittedFrom,
   EventFromLogic,
   InputFrom,
   SnapshotFrom
@@ -13,14 +14,20 @@ export function createInertActorScope<T extends AnyActorLogic>(
   actorLogic: T
 ): AnyActorScope {
   const self = createActor(actorLogic as AnyActorLogic);
-  const inertActorScope: ActorScope<SnapshotFrom<T>, EventFromLogic<T>, any> = {
+  const inertActorScope: ActorScope<
+    SnapshotFrom<T>,
+    EventFromLogic<T>,
+    any,
+    EmittedFrom<T>
+  > = {
     self,
     defer: () => {},
     id: '',
     logger: () => {},
     sessionId: '',
     stopChild: () => {},
-    system: self.system
+    system: self.system,
+    emit: () => {}
   };
 
   return inertActorScope;
diff --git a/packages/core/src/scxml.ts b/packages/core/src/scxml.ts
index ce67399d61..f3216919ec 100644
--- a/packages/core/src/scxml.ts
+++ b/packages/core/src/scxml.ts
@@ -175,7 +175,7 @@ function createGuard<
 
 function mapAction(
   element: XMLElement
-): ActionFunction<any, any, any, any, any, any, any, any> {
+): ActionFunction<any, any, any, any, any, any, any, any, any> {
   switch (element.name) {
     case 'raise': {
       return raise({
@@ -338,8 +338,9 @@ return ${element.attributes!.expr};
 
 function mapActions(
   elements: XMLElement[]
-): ActionFunction<any, any, any, any, any, any, any, any>[] {
-  const mapped: ActionFunction<any, any, any, any, any, any, any, any>[] = [];
+): ActionFunction<any, any, any, any, any, any, any, any, any>[] {
+  const mapped: ActionFunction<any, any, any, any, any, any, any, any, any>[] =
+    [];
 
   for (const element of elements) {
     if (element.type === 'comment') {
diff --git a/packages/core/src/setup.ts b/packages/core/src/setup.ts
index 67f737fd52..1666614b9b 100644
--- a/packages/core/src/setup.ts
+++ b/packages/core/src/setup.ts
@@ -9,6 +9,7 @@ import {
   Cast,
   ConditionalRequired,
   DelayConfig,
+  EventObject,
   Invert,
   IsNever,
   MachineConfig,
@@ -122,7 +123,8 @@ export function setup<
   TDelay extends string = never,
   TTag extends string = string,
   TInput = NonReducibleUnknown,
-  TOutput extends NonReducibleUnknown = NonReducibleUnknown
+  TOutput extends NonReducibleUnknown = NonReducibleUnknown,
+  TEmitted extends EventObject = EventObject
 >({
   schemas,
   actors,
@@ -131,7 +133,15 @@ export function setup<
   delays
 }: {
   schemas?: unknown;
-  types?: SetupTypes<TContext, TEvent, TChildrenMap, TTag, TInput, TOutput>;
+  types?: SetupTypes<
+    TContext,
+    TEvent,
+    TChildrenMap,
+    TTag,
+    TInput,
+    TOutput,
+    TEmitted
+  >;
   actors?: {
     // union here enforces that all configured children have to be provided in actors
     // it makes those values required here
@@ -148,7 +158,8 @@ export function setup<
       ToProvidedActor<TChildrenMap, TActors>,
       ToParameterizedObject<TActions>,
       ToParameterizedObject<TGuards>,
-      TDelay
+      TDelay,
+      TEmitted
     >;
   };
   guards?: {
@@ -181,6 +192,7 @@ export function setup<
       TTag,
       TInput,
       TOutput,
+      TEmitted,
       ResolveTypegenMeta<
         TypegenDisabled,
         TEvent,
@@ -188,7 +200,8 @@ export function setup<
         ToParameterizedObject<TActions>,
         ToParameterizedObject<TGuards>,
         TDelay,
-        TTag
+        TTag,
+        TEmitted
       >
     >
   >(
@@ -208,6 +221,7 @@ export function setup<
     TTag,
     TInput,
     TOutput,
+    TEmitted,
     ResolveTypegenMeta<
       TypegenDisabled,
       TEvent,
@@ -215,7 +229,8 @@ export function setup<
       ToParameterizedObject<TActions>,
       ToParameterizedObject<TGuards>,
       TDelay,
-      TTag
+      TTag,
+      TEmitted
     >
   >;
 } {
diff --git a/packages/core/src/stateUtils.ts b/packages/core/src/stateUtils.ts
index 09a2fa0a5a..29bb1420f3 100644
--- a/packages/core/src/stateUtils.ts
+++ b/packages/core/src/stateUtils.ts
@@ -1499,7 +1499,8 @@ function resolveAndExecuteActionsWithContext(
               ProvidedActor,
               ParameterizedObject,
               ParameterizedObject,
-              string
+              string,
+              EventObject
             >
           >
         )[typeof action === 'string' ? action : action.type];
diff --git a/packages/core/src/typegenTypes.ts b/packages/core/src/typegenTypes.ts
index ca1c3a4983..a3963d3a9a 100644
--- a/packages/core/src/typegenTypes.ts
+++ b/packages/core/src/typegenTypes.ts
@@ -215,7 +215,8 @@ export interface ResolveTypegenMeta<
   TAction extends ParameterizedObject,
   TGuard extends ParameterizedObject,
   TDelay extends string,
-  TTag extends string
+  TTag extends string,
+  TEmitted extends EventObject = EventObject
 > {
   '@@xstate/typegen': TTypesMeta['@@xstate/typegen'];
   resolved: {
@@ -250,6 +251,7 @@ export interface ResolveTypegenMeta<
         Prop<TTypesMeta, 'eventsCausingDelays'>
       >;
       tags: string extends TTag ? Prop<TTypesMeta, 'tags'> : TTag;
+      emitted: TEmitted;
     };
     disabled: TypegenDisabled &
       AllImplementationsProvided &
@@ -262,6 +264,7 @@ export interface ResolveTypegenMeta<
         indexedDelays: IndexByType<WrapIntoParameterizedObject<TDelay>>;
         invokeSrcNameMap: Record<string, string>;
         tags: TTag;
+        emitted: TEmitted;
       };
   }[IsNever<TTypesMeta> extends true
     ? 'disabled'
diff --git a/packages/core/src/types.ts b/packages/core/src/types.ts
index a1c74fb035..6d4d9d1b92 100644
--- a/packages/core/src/types.ts
+++ b/packages/core/src/types.ts
@@ -146,7 +146,8 @@ export type InputFrom<T> = T extends StateMachine<
         infer _TSnapshot,
         infer _TEvent,
         infer TInput,
-        infer _TSystem
+        infer _TSystem,
+        infer _TEmitted
       >
     ? TInput
     : never;
@@ -155,7 +156,8 @@ export type OutputFrom<T> = T extends ActorLogic<
   infer TSnapshot,
   infer _TEvent,
   infer _TInput,
-  infer _TSystem
+  infer _TSystem,
+  infer _TEmitted
 >
   ? (TSnapshot & { status: 'done' })['output']
   : T extends ActorRef<infer TSnapshot, infer _TEvent>
@@ -170,7 +172,8 @@ export type ActionFunction<
   TActor extends ProvidedActor,
   TAction extends ParameterizedObject,
   TGuard extends ParameterizedObject,
-  TDelay extends string
+  TDelay extends string,
+  TEmitted extends EventObject
 > = {
   (args: ActionArgs<TContext, TExpressionEvent, TEvent>, params: TParams): void;
   _out_TEvent?: TEvent; // TODO: it feels like we should be able to remove this since now `TEvent` is "observable" by `self`
@@ -178,30 +181,9 @@ export type ActionFunction<
   _out_TAction?: TAction;
   _out_TGuard?: TGuard;
   _out_TDelay?: TDelay;
+  _out_TEmitted?: TEmitted;
 };
 
-export interface ChooseBranch<
-  TContext extends MachineContext,
-  TExpressionEvent extends EventObject,
-  TEvent extends EventObject = TExpressionEvent,
-  TActor extends ProvidedActor = ProvidedActor,
-  TAction extends ParameterizedObject = ParameterizedObject,
-  TGuard extends ParameterizedObject = ParameterizedObject,
-  TDelay extends string = string
-> {
-  guard?: Guard<TContext, TExpressionEvent, undefined, TGuard>;
-  actions: Actions<
-    TContext,
-    TExpressionEvent,
-    TEvent,
-    undefined,
-    TActor,
-    TAction,
-    TGuard,
-    TDelay
-  >;
-}
-
 export type NoRequiredParams<T extends ParameterizedObject> = T extends any
   ? undefined extends T['params']
     ? T['type']
@@ -243,7 +225,8 @@ export type Action<
   TActor extends ProvidedActor,
   TAction extends ParameterizedObject,
   TGuard extends ParameterizedObject,
-  TDelay extends string
+  TDelay extends string,
+  TEmitted extends EventObject
 > =
   // TODO: consider merging `NoRequiredParams` and `WithDynamicParams` into one
   // this way we could iterate over `TAction` (and `TGuard` in the `Guard` type) once and not twice
@@ -257,7 +240,8 @@ export type Action<
       TActor,
       TAction,
       TGuard,
-      TDelay
+      TDelay,
+      TEmitted
     >;
 
 export type UnknownAction = Action<
@@ -268,7 +252,8 @@ export type UnknownAction = Action<
   ProvidedActor,
   ParameterizedObject,
   ParameterizedObject,
-  string
+  string,
+  EventObject
 >;
 
 export type Actions<
@@ -279,7 +264,8 @@ export type Actions<
   TActor extends ProvidedActor,
   TAction extends ParameterizedObject,
   TGuard extends ParameterizedObject,
-  TDelay extends string
+  TDelay extends string,
+  TEmitted extends EventObject
 > = SingleOrArray<
   Action<
     TContext,
@@ -289,7 +275,8 @@ export type Actions<
     TActor,
     TAction,
     TGuard,
-    TDelay
+    TDelay,
+    TEmitted
   >
 >;
 
@@ -319,7 +306,8 @@ export interface TransitionConfig<
   TActor extends ProvidedActor,
   TAction extends ParameterizedObject,
   TGuard extends ParameterizedObject,
-  TDelay extends string
+  TDelay extends string,
+  TEmitted extends EventObject = EventObject
 > {
   guard?: Guard<TContext, TExpressionEvent, undefined, TGuard>;
   actions?: Actions<
@@ -330,7 +318,8 @@ export interface TransitionConfig<
     TActor,
     TAction,
     TGuard,
-    TDelay
+    TDelay,
+    TEmitted
   >;
   reenter?: boolean;
   target?: TransitionTarget | undefined;
@@ -489,7 +478,8 @@ export type StatesConfig<
   TGuard extends ParameterizedObject,
   TDelay extends string,
   TTag extends string,
-  TOutput
+  TOutput,
+  TEmitted extends EventObject
 > = {
   [K in string]: StateNodeConfig<
     TContext,
@@ -499,7 +489,8 @@ export type StatesConfig<
     TGuard,
     TDelay,
     TTag,
-    TOutput
+    TOutput,
+    TEmitted
   >;
 };
 
@@ -519,7 +510,8 @@ export type TransitionConfigOrTarget<
   TActor extends ProvidedActor,
   TAction extends ParameterizedObject,
   TGuard extends ParameterizedObject,
-  TDelay extends string
+  TDelay extends string,
+  TEmitted extends EventObject
 > = SingleOrArray<
   | TransitionConfigTarget
   | TransitionConfig<
@@ -529,7 +521,8 @@ export type TransitionConfigOrTarget<
       TActor,
       TAction,
       TGuard,
-      TDelay
+      TDelay,
+      TEmitted
     >
 >;
 
@@ -539,7 +532,8 @@ export type TransitionsConfig<
   TActor extends ProvidedActor,
   TAction extends ParameterizedObject,
   TGuard extends ParameterizedObject,
-  TDelay extends string
+  TDelay extends string,
+  TEmitted extends EventObject
 > = {
   [K in EventDescriptor<TEvent>]?: TransitionConfigOrTarget<
     TContext,
@@ -548,7 +542,8 @@ export type TransitionsConfig<
     TActor,
     TAction,
     TGuard,
-    TDelay
+    TDelay,
+    TEmitted
   >;
 };
 
@@ -577,6 +572,7 @@ type DistributeActors<
   TAction extends ParameterizedObject,
   TGuard extends ParameterizedObject,
   TDelay extends string,
+  TEmitted extends EventObject,
   TSpecificActor extends ProvidedActor
 > = TSpecificActor extends { src: infer TSrc }
   ? Compute<
@@ -612,7 +608,8 @@ type DistributeActors<
                 TActor,
                 TAction,
                 TGuard,
-                TDelay
+                TDelay,
+                TEmitted
               >
             >;
         /**
@@ -628,7 +625,8 @@ type DistributeActors<
                 TActor,
                 TAction,
                 TGuard,
-                TDelay
+                TDelay,
+                TEmitted
               >
             >;
 
@@ -642,7 +640,8 @@ type DistributeActors<
                 TActor,
                 TAction,
                 TGuard,
-                TDelay
+                TDelay,
+                TEmitted
               >
             >;
       } & { [K in RequiredActorOptions<TSpecificActor>]: unknown }
@@ -655,9 +654,19 @@ export type InvokeConfig<
   TActor extends ProvidedActor,
   TAction extends ParameterizedObject,
   TGuard extends ParameterizedObject,
-  TDelay extends string
+  TDelay extends string,
+  TEmitted extends EventObject
 > = IsLiteralString<TActor['src']> extends true
-  ? DistributeActors<TContext, TEvent, TActor, TAction, TGuard, TDelay, TActor>
+  ? DistributeActors<
+      TContext,
+      TEvent,
+      TActor,
+      TAction,
+      TGuard,
+      TDelay,
+      TEmitted,
+      TActor
+    >
   : {
       /**
        * The unique identifier for the invoked machine. If not specified, this
@@ -687,7 +696,8 @@ export type InvokeConfig<
               TActor,
               TAction,
               TGuard,
-              TDelay
+              TDelay,
+              TEmitted
             >
           >;
       /**
@@ -703,7 +713,8 @@ export type InvokeConfig<
               TActor,
               TAction,
               TGuard,
-              TDelay
+              TDelay,
+              TEmitted
             >
           >;
 
@@ -717,12 +728,13 @@ export type InvokeConfig<
               TActor,
               TAction,
               TGuard,
-              TDelay
+              TDelay,
+              TEmitted
             >
           >;
     };
 
-export type AnyInvokeConfig = InvokeConfig<any, any, any, any, any, any>;
+export type AnyInvokeConfig = InvokeConfig<any, any, any, any, any, any, any>;
 
 export interface StateNodeConfig<
   TContext extends MachineContext,
@@ -732,7 +744,8 @@ export interface StateNodeConfig<
   TGuard extends ParameterizedObject,
   TDelay extends string,
   TTag extends string,
-  TOutput
+  TOutput,
+  TEmitted extends EventObject
 > {
   /**
    * The initial state transition.
@@ -769,19 +782,28 @@ export interface StateNodeConfig<
         TGuard,
         TDelay,
         TTag,
-        NonReducibleUnknown
+        NonReducibleUnknown,
+        TEmitted
       >
     | undefined;
   /**
    * The services to invoke upon entering this state node. These services will be stopped upon exiting this state node.
    */
   invoke?: SingleOrArray<
-    InvokeConfig<TContext, TEvent, TActor, TAction, TGuard, TDelay>
+    InvokeConfig<TContext, TEvent, TActor, TAction, TGuard, TDelay, TEmitted>
   >;
   /**
    * The mapping of event types to their potential transition(s).
    */
-  on?: TransitionsConfig<TContext, TEvent, TActor, TAction, TGuard, TDelay>;
+  on?: TransitionsConfig<
+    TContext,
+    TEvent,
+    TActor,
+    TAction,
+    TGuard,
+    TDelay,
+    TEmitted
+  >;
   /**
    * The action(s) to be executed upon entering the state node.
    */
@@ -793,7 +815,8 @@ export interface StateNodeConfig<
     TActor,
     TAction,
     TGuard,
-    TDelay
+    TDelay,
+    TEmitted
   >;
   /**
    * The action(s) to be executed upon exiting the state node.
@@ -806,7 +829,8 @@ export interface StateNodeConfig<
     TActor,
     TAction,
     TGuard,
-    TDelay
+    TDelay,
+    TEmitted
   >;
   /**
    * The potential transition(s) to be taken upon reaching a final child state node.
@@ -843,7 +867,8 @@ export interface StateNodeConfig<
     TActor,
     TAction,
     TGuard,
-    TDelay
+    TDelay,
+    TEmitted
   >;
   parent?: StateNode<TContext, TEvent>;
   /**
@@ -890,6 +915,7 @@ export type AnyStateNodeConfig = StateNodeConfig<
   any,
   any,
   any,
+  any,
   any
 >;
 
@@ -919,7 +945,8 @@ export interface StateNodeDefinition<
     ParameterizedObject,
     string,
     string,
-    unknown
+    unknown,
+    EventObject // TEmitted
   >['output'];
   invoke: Array<InvokeDefinition<TContext, TEvent, TODO, TODO, TODO, TODO>>;
   description?: string;
@@ -960,6 +987,7 @@ export type AnyStateMachine = StateMachine<
   any, // tag
   any, // input
   any, // output
+  any, // emitted
   any // typegen
 >;
 
@@ -976,6 +1004,7 @@ export interface AtomicStateNodeConfig<
     TODO,
     TODO,
     TODO,
+    TODO,
     TODO
   > {
   initial?: undefined;
@@ -997,7 +1026,7 @@ export type SimpleOrStateNodeConfig<
   TEvent extends EventObject
 > =
   | AtomicStateNodeConfig<TContext, TEvent>
-  | StateNodeConfig<TContext, TEvent, TODO, TODO, TODO, TODO, TODO, TODO>;
+  | StateNodeConfig<TContext, TEvent, TODO, TODO, TODO, TODO, TODO, TODO, TODO>;
 
 export type ActionFunctionMap<
   TContext extends MachineContext,
@@ -1005,7 +1034,8 @@ export type ActionFunctionMap<
   TActor extends ProvidedActor,
   TAction extends ParameterizedObject = ParameterizedObject,
   TGuard extends ParameterizedObject = ParameterizedObject,
-  TDelay extends string = string
+  TDelay extends string = string,
+  TEmitted extends EventObject = EventObject
 > = {
   [K in TAction['type']]?: ActionFunction<
     TContext,
@@ -1015,7 +1045,8 @@ export type ActionFunctionMap<
     TActor,
     TAction,
     TGuard,
-    TDelay
+    TDelay,
+    TEmitted
   >;
 };
 
@@ -1093,7 +1124,8 @@ type MachineImplementationsActions<
     'indexedActions'
   >,
   TIndexedGuards = Prop<Prop<TResolvedTypesMeta, 'resolved'>, 'indexedGuards'>,
-  TIndexedDelays = Prop<Prop<TResolvedTypesMeta, 'resolved'>, 'indexedDelays'>
+  TIndexedDelays = Prop<Prop<TResolvedTypesMeta, 'resolved'>, 'indexedDelays'>,
+  TEmitted = Prop<Prop<TResolvedTypesMeta, 'resolved'>, 'emitted'>
 > = {
   [K in keyof TIndexedActions]?: ActionFunction<
     TContext,
@@ -1106,7 +1138,8 @@ type MachineImplementationsActions<
     Cast<
       Prop<TIndexedDelays, keyof TIndexedDelays>,
       ParameterizedObject
-    >['type']
+    >['type'],
+    Cast<TEmitted, EventObject>
   >;
 };
 
@@ -1343,6 +1376,7 @@ export type MachineConfig<
   TTag extends string = string,
   TInput = any,
   TOutput = unknown,
+  TEmitted extends EventObject = EventObject,
   TTypesMeta = TypegenDisabled
 > = (Omit<
   StateNodeConfig<
@@ -1353,7 +1387,8 @@ export type MachineConfig<
     NoInfer<TGuard>,
     NoInfer<TDelay>,
     NoInfer<TTag>,
-    NoInfer<TOutput>
+    NoInfer<TOutput>,
+    NoInfer<TEmitted>
   >,
   'output'
 > & {
@@ -1385,7 +1420,8 @@ export interface SetupTypes<
   TChildrenMap extends Record<string, string>,
   TTag extends string,
   TInput,
-  TOutput
+  TOutput,
+  TEmitted extends EventObject
 > {
   context?: TContext;
   events?: TEvent;
@@ -1393,6 +1429,7 @@ export interface SetupTypes<
   tags?: TTag;
   input?: TInput;
   output?: TOutput;
+  emitted?: TEmitted;
 }
 
 export interface MachineTypes<
@@ -1405,6 +1442,7 @@ export interface MachineTypes<
   TTag extends string,
   TInput,
   TOutput,
+  TEmitted extends EventObject,
   TTypesMeta = TypegenDisabled
 > extends SetupTypes<
     TContext,
@@ -1414,7 +1452,8 @@ export interface MachineTypes<
     never,
     TTag,
     TInput,
-    TOutput
+    TOutput,
+    TEmitted
   > {
   actors?: TActor;
   actions?: TAction;
@@ -1694,7 +1733,7 @@ export interface StateConfig<
    * @internal
    */
   _nodes: Array<StateNode<TContext, TEvent>>;
-  children: Record<string, ActorRef<any, any>>;
+  children: Record<string, AnyActorRef>;
   status: 'active' | 'done' | 'error' | 'stopped';
   output?: any;
   error?: unknown;
@@ -1709,6 +1748,7 @@ export interface StateConfig<
     any,
     any,
     any,
+    any,
     any
   >;
 }
@@ -1735,7 +1775,7 @@ export interface ActorOptions<TLogic extends AnyActorLogic> {
    * Specifies the logger to be used for `log(...)` actions. Defaults to the native `console.log(...)` method.
    */
   logger?: (...args: any[]) => void;
-  parent?: ActorRef<any, any>;
+  parent?: AnyActorRef;
   /**
    * @internal
    */
@@ -1930,7 +1970,8 @@ export interface ActorLike<TCurrent, TEvent extends EventObject>
 
 export interface ActorRef<
   TSnapshot extends Snapshot<unknown>,
-  TEvent extends EventObject
+  TEvent extends EventObject,
+  TEmitted extends EventObject = EventObject
 > extends Subscribable<TSnapshot>,
     InteropObservable<TSnapshot> {
   /**
@@ -1947,14 +1988,18 @@ export interface ActorRef<
   stop: () => void;
   toJSON?: () => any;
   // TODO: figure out how to hide this externally as `sendTo(ctx => ctx.actorRef._parent._parent._parent._parent)` shouldn't be allowed
-  _parent?: ActorRef<any, any>;
+  _parent?: AnyActorRef;
   system: AnyActorSystem;
   /** @internal */
   _processingStatus: ProcessingStatus;
   src: string | AnyActorLogic;
+  on: <TType extends TEmitted['type']>(
+    type: TType,
+    handler: (emitted: TEmitted & { type: TType }) => void
+  ) => Subscription;
 }
 
-export type AnyActorRef = ActorRef<any, any>;
+export type AnyActorRef = ActorRef<any, any, any>;
 
 export type ActorLogicFrom<T> = ReturnTypeOrValue<T> extends infer R
   ? R extends StateMachine<
@@ -1990,6 +2035,7 @@ export type ActorRefFrom<T> = ReturnTypeOrValue<T> extends infer R
       infer TTag,
       infer _TInput,
       infer TOutput,
+      infer TEmitted,
       infer _TResolvedTypesMeta
     >
     ? ActorRef<
@@ -2001,7 +2047,8 @@ export type ActorRefFrom<T> = ReturnTypeOrValue<T> extends infer R
           TTag,
           TOutput
         >,
-        TEvent
+        TEvent,
+        TEmitted
       >
     : R extends Promise<infer U>
       ? ActorRefFrom<PromiseActorLogic<U>>
@@ -2009,9 +2056,10 @@ export type ActorRefFrom<T> = ReturnTypeOrValue<T> extends infer R
             infer TSnapshot,
             infer TEvent,
             infer _TInput,
-            infer _TSystem
+            infer _TSystem,
+            infer TEmitted
           >
-        ? ActorRef<TSnapshot, TEvent>
+        ? ActorRef<TSnapshot, TEvent, TEmitted>
         : never
   : never;
 
@@ -2034,6 +2082,7 @@ export type InterpreterFrom<
   infer TTag,
   infer TInput,
   infer TOutput,
+  infer TEmitted,
   infer _TResolvedTypesMeta
 >
   ? Actor<
@@ -2048,7 +2097,8 @@ export type InterpreterFrom<
         >,
         TEvent,
         TInput,
-        AnyActorSystem
+        AnyActorSystem,
+        TEmitted
       >
     >
   : never;
@@ -2068,6 +2118,7 @@ export type MachineImplementationsFrom<
   infer _TTag,
   infer _TInput,
   infer _TOutput,
+  infer _TEmitted,
   infer TResolvedTypesMeta
 >
   ? InternalMachineImplementations<
@@ -2090,6 +2141,7 @@ export type __ResolvedTypesMetaFrom<T> = T extends StateMachine<
   any, // tag
   any, // input
   any, // output
+  any, // emitted
   infer TResolvedTypesMeta
 >
   ? TResolvedTypesMeta
@@ -2098,18 +2150,25 @@ export type __ResolvedTypesMetaFrom<T> = T extends StateMachine<
 export interface ActorScope<
   TSnapshot extends Snapshot<unknown>,
   TEvent extends EventObject,
-  TSystem extends AnyActorSystem = AnyActorSystem
+  TSystem extends AnyActorSystem = AnyActorSystem,
+  TEmitted extends EventObject = EventObject
 > {
-  self: ActorRef<TSnapshot, TEvent>;
+  self: ActorRef<TSnapshot, TEvent, TEmitted>;
   id: string;
   sessionId: string;
   logger: (...args: any[]) => void;
   defer: (fn: () => void) => void;
+  emit: (event: TEmitted) => void;
   system: TSystem;
   stopChild: (child: AnyActorRef) => void;
 }
 
-export type AnyActorScope = ActorScope<any, any, AnyActorSystem>;
+export type AnyActorScope = ActorScope<
+  any, // TSnapshot
+  any, // TEvent
+  AnyActorSystem,
+  any // TEmitted
+>;
 
 export type Snapshot<TOutput> =
   | {
@@ -2145,7 +2204,8 @@ export interface ActorLogic<
   in out TSnapshot extends Snapshot<unknown>, // it's invariant because it's also part of `ActorScope["self"]["getSnapshot"]`
   in out TEvent extends EventObject, // it's invariant because it's also part of `ActorScope["self"]["send"]`
   in TInput = NonReducibleUnknown,
-  TSystem extends AnyActorSystem = AnyActorSystem
+  TSystem extends AnyActorSystem = AnyActorSystem,
+  in out TEmitted extends EventObject = EventObject // it's invariant because it's also aprt of `ActorScope["self"]["on"]`
 > {
   /** The initial setup/configuration used to create the actor logic. */
   config?: unknown;
@@ -2160,7 +2220,7 @@ export interface ActorLogic<
   transition: (
     snapshot: TSnapshot,
     message: TEvent,
-    actorScope: ActorScope<TSnapshot, TEvent, TSystem>
+    actorScope: ActorScope<TSnapshot, TEvent, TSystem, TEmitted>
   ) => TSnapshot;
   /**
    * Called to provide the initial state of the actor.
@@ -2169,7 +2229,7 @@ export interface ActorLogic<
    * @returns The initial state.
    */
   getInitialSnapshot: (
-    actorScope: ActorScope<TSnapshot, TEvent, TSystem>,
+    actorScope: ActorScope<TSnapshot, TEvent, TSystem, TEmitted>,
     input: TInput
   ) => TSnapshot;
   /**
@@ -2181,7 +2241,7 @@ export interface ActorLogic<
    */
   restoreSnapshot?: (
     persistedState: Snapshot<unknown>,
-    actorScope: ActorScope<TSnapshot, TEvent>
+    actorScope: ActorScope<TSnapshot, TEvent, AnyActorSystem, TEmitted>
   ) => TSnapshot;
   /**
    * Called when the actor is started.
@@ -2190,7 +2250,7 @@ export interface ActorLogic<
    */
   start?: (
     snapshot: TSnapshot,
-    actorScope: ActorScope<TSnapshot, TEvent>
+    actorScope: ActorScope<TSnapshot, TEvent, AnyActorSystem, TEmitted>
   ) => void;
   /**
    * Obtains the internal state of the actor in a representation which can be be persisted.
@@ -2208,28 +2268,63 @@ export type AnyActorLogic = ActorLogic<
   any, // snapshot
   any, // event
   any, // input
-  any // system
+  any, // system
+  any // emitted
 >;
 
-export type UnknownActorLogic = ActorLogic<any, any, never, AnyActorSystem>;
+export type UnknownActorLogic = ActorLogic<
+  any, // snapshot
+  any, // event
+  never, // input
+  AnyActorSystem,
+  any // emitted
+>;
 
 export type SnapshotFrom<T> = ReturnTypeOrValue<T> extends infer R
   ? R extends ActorRef<infer TSnapshot, infer _>
     ? TSnapshot
     : R extends Actor<infer TLogic>
       ? SnapshotFrom<TLogic>
-      : R extends ActorLogic<infer _, infer __, infer ___, infer ____>
+      : R extends ActorLogic<
+            infer _TSnapshot,
+            infer _TEvent,
+            infer _TInput,
+            infer _TEmitted,
+            infer _TSystem
+          >
         ? ReturnType<R['transition']>
-        : R extends ActorScope<infer TSnapshot, infer _, infer __>
+        : R extends ActorScope<
+              infer TSnapshot,
+              infer _TEvent,
+              infer _TEmitted,
+              infer _TSystem
+            >
           ? TSnapshot
           : never
   : never;
 
-export type EventFromLogic<TLogic extends ActorLogic<any, any, any, any>> =
-  TLogic extends ActorLogic<infer _, infer TEvent, infer __, infer _____>
+export type EventFromLogic<TLogic extends AnyActorLogic> =
+  TLogic extends ActorLogic<
+    infer _TSnapshot,
+    infer TEvent,
+    infer _TInput,
+    infer _TEmitted,
+    infer _TSystem
+  >
     ? TEvent
     : never;
 
+export type EmittedFrom<TLogic extends AnyActorLogic> =
+  TLogic extends ActorLogic<
+    infer _TSnapshot,
+    infer _TEvent,
+    infer _TInput,
+    infer _TSystem,
+    infer TEmitted
+  >
+    ? TEmitted
+    : never;
+
 type ResolveEventType<T> = ReturnTypeOrValue<T> extends infer R
   ? R extends StateMachine<
       infer _TContext,
@@ -2243,6 +2338,7 @@ type ResolveEventType<T> = ReturnTypeOrValue<T> extends infer R
       infer _TTag,
       infer _TInput,
       infer _TOutput,
+      infer _TEmitted,
       infer _TResolvedTypesMeta
     >
     ? TEvent
@@ -2279,6 +2375,7 @@ export type ContextFrom<T> = ReturnTypeOrValue<T> extends infer R
       infer _TTag,
       infer _TInput,
       infer _TOutput,
+      infer _TEmitted,
       infer _TResolvedTypesMeta
     >
     ? TContext
@@ -2303,6 +2400,7 @@ export type ContextFrom<T> = ReturnTypeOrValue<T> extends infer R
             infer _TTag,
             infer _TInput,
             infer _TOutput,
+            infer _TEmitted,
             infer _TResolvedTypesMeta
           >
           ? TContext
diff --git a/packages/core/src/utils.ts b/packages/core/src/utils.ts
index 900e0e9265..3d7ef4c9b4 100644
--- a/packages/core/src/utils.ts
+++ b/packages/core/src/utils.ts
@@ -3,7 +3,7 @@ import { isMachineSnapshot } from './State.ts';
 import type { StateNode } from './StateNode.ts';
 import { TARGETLESS_KEY } from './constants.ts';
 import type {
-  ActorLogic,
+  AnyActorLogic,
   AnyActorRef,
   AnyEventObject,
   AnyMachineSnapshot,
@@ -197,7 +197,7 @@ export function resolveOutput<
   return mapper;
 }
 
-export function isActorLogic(value: any): value is ActorLogic<any, any> {
+export function isActorLogic(value: any): value is AnyActorLogic {
   return (
     value !== null &&
     typeof value === 'object' &&
@@ -278,7 +278,7 @@ export function resolveReferencedActor(machine: AnyStateMachine, src: string) {
   return (
     Array.isArray(invokeConfig)
       ? invokeConfig[indexStr as any]
-      : (invokeConfig as InvokeConfig<any, any, any, any, any, any>)
+      : (invokeConfig as InvokeConfig<any, any, any, any, any, any, any>)
   ).src;
 }
 
diff --git a/packages/core/src/waitFor.ts b/packages/core/src/waitFor.ts
index 3151618d9c..68b083e9f6 100644
--- a/packages/core/src/waitFor.ts
+++ b/packages/core/src/waitFor.ts
@@ -1,5 +1,5 @@
 import isDevelopment from '#is-development';
-import { ActorRef, SnapshotFrom, Subscription } from './types.ts';
+import { ActorRef, AnyActorRef, SnapshotFrom, Subscription } from './types.ts';
 
 interface WaitForOptions {
   /**
@@ -36,7 +36,7 @@ const defaultWaitForOptions: WaitForOptions = {
  * @returns A promise that eventually resolves to the emitted value
  * that matches the condition
  */
-export function waitFor<TActorRef extends ActorRef<any, any>>(
+export function waitFor<TActorRef extends AnyActorRef>(
   actorRef: TActorRef,
   predicate: (emitted: SnapshotFrom<TActorRef>) => boolean,
   options?: Partial<WaitForOptions>
diff --git a/packages/core/test/actions.test.ts b/packages/core/test/actions.test.ts
index 8867bf824f..79e1cd8f2e 100644
--- a/packages/core/test/actions.test.ts
+++ b/packages/core/test/actions.test.ts
@@ -12,6 +12,7 @@ import { CallbackActorRef, fromCallback } from '../src/actors/callback.ts';
 import {
   ActorRef,
   ActorRefFrom,
+  AnyActorRef,
   EventObject,
   Snapshot,
   assign,
@@ -2463,7 +2464,7 @@ describe('forwardTo()', () => {
 
     const parent = createMachine({
       types: {} as {
-        context: { child?: ActorRef<any, any> };
+        context: { child?: AnyActorRef };
         events: { type: 'EVENT'; value: number } | { type: 'SUCCESS' };
       },
       id: 'parent',
diff --git a/packages/core/test/actor.test.ts b/packages/core/test/actor.test.ts
index 19def52827..e355e80f83 100644
--- a/packages/core/test/actor.test.ts
+++ b/packages/core/test/actor.test.ts
@@ -34,7 +34,7 @@ import { sleep } from '@xstate-repo/jest-utils';
 
 describe('spawning machines', () => {
   const context = {
-    todoRefs: {} as Record<string, ActorRef<any, any>>
+    todoRefs: {} as Record<string, AnyActorRef>
   };
 
   type TodoEvent =
@@ -191,7 +191,7 @@ describe('spawning machines', () => {
     const parentMachine = createMachine(
       {
         context: {
-          ref: null! as ActorRef<any, any>
+          ref: null! as AnyActorRef
         },
         initial: 'waiting',
         states: {
@@ -472,7 +472,7 @@ describe('spawning observables', () => {
         id: 'observable',
         initial: 'idle',
         context: {
-          observableRef: undefined! as ActorRef<any, any>
+          observableRef: undefined! as AnyActorRef
         },
         states: {
           idle: {
@@ -719,7 +719,7 @@ describe('spawning event observables', () => {
         id: 'observable',
         initial: 'idle',
         context: {
-          observableRef: undefined! as ActorRef<any, any>
+          observableRef: undefined! as AnyActorRef
         },
         states: {
           idle: {
diff --git a/packages/core/test/emit.test.ts b/packages/core/test/emit.test.ts
new file mode 100644
index 0000000000..52fa0ddf26
--- /dev/null
+++ b/packages/core/test/emit.test.ts
@@ -0,0 +1,191 @@
+import {
+  AnyEventObject,
+  createActor,
+  createMachine,
+  enqueueActions,
+  setup
+} from '../src';
+import { emit } from '../src/actions/emit';
+
+describe('event emitter', () => {
+  it('only emits expected events if specified in setup', () => {
+    setup({
+      types: {
+        emitted: {} as { type: 'greet'; message: string }
+      }
+    }).createMachine({
+      // @ts-expect-error
+      entry: emit({ type: 'nonsense' }),
+      // @ts-expect-error
+      exit: emit({ type: 'greet', message: 1234 }),
+
+      on: {
+        someEvent: {
+          actions: emit({ type: 'greet', message: 'hello' })
+        }
+      }
+    });
+  });
+
+  it('emits any events if not specified in setup (unsafe)', () => {
+    createMachine({
+      entry: emit({ type: 'nonsense' }),
+      exit: emit({ type: 'greet', message: 1234 }),
+      on: {
+        someEvent: {
+          actions: emit({ type: 'greet', message: 'hello' })
+        }
+      }
+    });
+  });
+
+  it('emits events that can be listened to on actorRef.on(…)', async () => {
+    const machine = setup({
+      types: {
+        emitted: {} as { type: 'emitted'; foo: string }
+      }
+    }).createMachine({
+      on: {
+        someEvent: {
+          actions: emit({ type: 'emitted', foo: 'bar' })
+        }
+      }
+    });
+
+    const actor = createActor(machine).start();
+    setTimeout(() => {
+      actor.send({
+        type: 'someEvent'
+      });
+    });
+    const event = await new Promise<AnyEventObject>((res) => {
+      actor.on('emitted', res);
+    });
+
+    expect(event.foo).toBe('bar');
+  });
+
+  it('enqueue.emit(…) emits events that can be listened to on actorRef.on(…)', async () => {
+    const machine = setup({
+      types: {
+        emitted: {} as { type: 'emitted'; foo: string }
+      }
+    }).createMachine({
+      on: {
+        someEvent: {
+          actions: enqueueActions(({ enqueue }) => {
+            enqueue.emit({ type: 'emitted', foo: 'bar' });
+
+            enqueue.emit({
+              // @ts-expect-error
+              type: 'unknown'
+            });
+          })
+        }
+      }
+    });
+
+    const actor = createActor(machine).start();
+    setTimeout(() => {
+      actor.send({
+        type: 'someEvent'
+      });
+    });
+    const event = await new Promise<AnyEventObject>((res) => {
+      actor.on('emitted', res);
+    });
+
+    expect(event.foo).toBe('bar');
+  });
+
+  it('handles errors', async () => {
+    const machine = setup({
+      types: {
+        emitted: {} as { type: 'emitted'; foo: string }
+      }
+    }).createMachine({
+      on: {
+        someEvent: {
+          actions: emit({ type: 'emitted', foo: 'bar' })
+        }
+      }
+    });
+
+    const actor = createActor(machine).start();
+    actor.on('emitted', () => {
+      throw new Error('oops');
+    });
+    setTimeout(() => {
+      actor.send({
+        type: 'someEvent'
+      });
+    });
+    const err = await new Promise((res) =>
+      actor.subscribe({
+        error: res
+      })
+    );
+
+    expect(err).toBeInstanceOf(Error);
+    expect((err as Error).message).toEqual('oops');
+  });
+
+  it('dynamically emits events that can be listened to on actorRef.on(…)', async () => {
+    const machine = createMachine({
+      context: { count: 10 },
+      on: {
+        someEvent: {
+          actions: emit(({ context }) => ({
+            type: 'emitted',
+            count: context.count
+          }))
+        }
+      }
+    });
+
+    const actor = createActor(machine).start();
+    setTimeout(() => {
+      actor.send({
+        type: 'someEvent'
+      });
+    });
+    const event = await new Promise<AnyEventObject>((res) => {
+      actor.on('emitted', res);
+    });
+
+    expect(event).toEqual({
+      type: 'emitted',
+      count: 10
+    });
+  });
+
+  it('listener should be able to read the updated snapshot of the emitting actor', () => {
+    const spy = jest.fn();
+
+    const machine = createMachine({
+      initial: 'a',
+      states: {
+        a: {
+          on: {
+            ev: {
+              actions: emit({ type: 'someEvent' }),
+              target: 'b'
+            }
+          }
+        },
+        b: {}
+      }
+    });
+
+    const actor = createActor(machine);
+    actor.on('someEvent', () => {
+      spy(actor.getSnapshot().value);
+    });
+
+    actor.start();
+    actor.send({ type: 'ev' });
+
+    expect(spy).toHaveBeenCalledTimes(1);
+    expect(spy).toHaveBeenCalledWith('b');
+  });
+});
diff --git a/packages/core/test/interpreter.test.ts b/packages/core/test/interpreter.test.ts
index 8bd2ac7528..eacb255e31 100644
--- a/packages/core/test/interpreter.test.ts
+++ b/packages/core/test/interpreter.test.ts
@@ -10,7 +10,8 @@ import {
   cancel,
   raise,
   stopChild,
-  log
+  log,
+  AnyActorRef
 } from '../src/index.ts';
 import { interval, from } from 'rxjs';
 import { fromObservable } from '../src/actors/observable';
@@ -1670,7 +1671,7 @@ describe('interpreter', () => {
         context: {} as {
           machineRef: ActorRefFrom<typeof childMachine>;
           promiseRef: ActorRefFrom<typeof fromPromise>;
-          observableRef: ActorRef<any, any>;
+          observableRef: AnyActorRef;
         },
         entry: assign({
           machineRef: ({ spawn }) =>
diff --git a/packages/core/test/typegenTypes.test.ts b/packages/core/test/typegenTypes.test.ts
index 436d8898dd..aa523a5009 100644
--- a/packages/core/test/typegenTypes.test.ts
+++ b/packages/core/test/typegenTypes.test.ts
@@ -920,6 +920,7 @@ describe('typegen types', () => {
         any,
         any,
         any,
+        any,
         any
       >
     ) {
diff --git a/packages/core/test/types.test.ts b/packages/core/test/types.test.ts
index 1b1efcc478..5f02489810 100644
--- a/packages/core/test/types.test.ts
+++ b/packages/core/test/types.test.ts
@@ -306,6 +306,32 @@ describe('output', () => {
   });
 });
 
+describe('emitted', () => {
+  it('emitted type should be represented in actor.on(…)', () => {
+    const m = setup({
+      types: {
+        emitted: {} as
+          | { type: 'onClick'; x: number; y: number }
+          | { type: 'onChange' }
+      }
+    }).createMachine({});
+
+    const actor = createActor(m);
+
+    actor.on('onClick', (ev) => {
+      ev.x satisfies number;
+
+      // @ts-expect-error
+      ev.x satisfies string;
+    });
+
+    actor.on('onChange', () => {});
+
+    // @ts-expect-error
+    actor.on('unknown', () => {});
+  });
+});
+
 it('should infer context type from `config.context` when there is no `schema.context`', () => {
   createMachine(
     {
@@ -353,7 +379,20 @@ it('should not use actions as possible inference sites', () => {
 it('should work with generic context', () => {
   function createMachineWithExtras<TContext extends MachineContext>(
     context: TContext
-  ): StateMachine<TContext, any, any, any, any, any, any, any, any, any, any> {
+  ): StateMachine<
+    TContext,
+    any,
+    any,
+    any,
+    any,
+    any,
+    any,
+    any,
+    any,
+    any,
+    any,
+    any
+  > {
     return createMachine({ context });
   }
 
@@ -493,6 +532,7 @@ describe('events', () => {
         any,
         any,
         any,
+        any,
         any
       >
     ) {}
diff --git a/packages/xstate-graph/src/actorScope.ts b/packages/xstate-graph/src/actorScope.ts
index a81213c69d..a1783a3654 100644
--- a/packages/xstate-graph/src/actorScope.ts
+++ b/packages/xstate-graph/src/actorScope.ts
@@ -9,6 +9,7 @@ export function createMockActorScope(): AnyActorScope {
     sessionId: Math.random().toString(32).slice(2),
     defer: () => {},
     system: emptyActor.system, // TODO: mock system?
-    stopChild: () => {}
+    stopChild: () => {},
+    emit: () => {}
   };
 }
diff --git a/packages/xstate-graph/src/simplePaths.ts b/packages/xstate-graph/src/simplePaths.ts
index 1824beea9b..6a8a19659d 100644
--- a/packages/xstate-graph/src/simplePaths.ts
+++ b/packages/xstate-graph/src/simplePaths.ts
@@ -1,13 +1,4 @@
-import {
-  EventObject,
-  AnyStateMachine,
-  StateFrom,
-  EventFrom,
-  ActorLogic,
-  AnyActorLogic,
-  EventFromLogic,
-  SnapshotFrom
-} from 'xstate';
+import { AnyActorLogic, EventFromLogic } from 'xstate';
 import {
   SerializedEvent,
   SerializedState,
@@ -16,7 +7,7 @@ import {
   TraversalOptions,
   VisitedContext
 } from './types';
-import { resolveTraversalOptions, createDefaultMachineOptions } from './graph';
+import { resolveTraversalOptions } from './graph';
 import { getAdjacencyMap } from './adjacency';
 import { alterPath } from './alterPath';
 import { createMockActorScope } from './actorScope';
diff --git a/packages/xstate-react/src/useSelector.ts b/packages/xstate-react/src/useSelector.ts
index 96de665a2b..e7ffcb7030 100644
--- a/packages/xstate-react/src/useSelector.ts
+++ b/packages/xstate-react/src/useSelector.ts
@@ -1,6 +1,6 @@
 import { useCallback } from 'react';
 import { useSyncExternalStoreWithSelector } from 'use-sync-external-store/shim/with-selector';
-import { ActorRef, SnapshotFrom } from 'xstate';
+import { AnyActorRef, SnapshotFrom } from 'xstate';
 
 type SyncExternalStoreSubscribe = Parameters<
   typeof useSyncExternalStoreWithSelector
@@ -10,12 +10,10 @@ function defaultCompare<T>(a: T, b: T) {
   return a === b;
 }
 
-export function useSelector<TActor extends ActorRef<any, any> | undefined, T>(
+export function useSelector<TActor extends AnyActorRef | undefined, T>(
   actor: TActor,
   selector: (
-    emitted: TActor extends ActorRef<any, any>
-      ? SnapshotFrom<TActor>
-      : undefined
+    emitted: TActor extends AnyActorRef ? SnapshotFrom<TActor> : undefined
   ) => T,
   compare: (a: T, b: T) => boolean = defaultCompare
 ): T {
diff --git a/packages/xstate-test/src/types.ts b/packages/xstate-test/src/types.ts
index 22876a0d3a..036958f868 100644
--- a/packages/xstate-test/src/types.ts
+++ b/packages/xstate-test/src/types.ts
@@ -40,10 +40,11 @@ export interface TestMachineConfig<
     TODO,
     TODO,
     TODO,
-    TODO,
-    TODO,
     TODO, // delays
     TODO, // tags
+    TODO, // input
+    TODO, // output
+    TODO, //emitted
     TTypesMeta
   >;
 }
@@ -60,6 +61,7 @@ export interface TestStateNodeConfig<
       ParameterizedObject,
       TODO,
       TODO,
+      TODO,
       TODO
     >,
     | 'type'
diff --git a/packages/xstate-vue/README.md b/packages/xstate-vue/README.md
index 86b675dacf..d4060df051 100644
--- a/packages/xstate-vue/README.md
+++ b/packages/xstate-vue/README.md
@@ -49,7 +49,7 @@ const { snapshot: state, send } = useMachine(toggleMachine);
 </script>
 
 <template>
-  <button @click="send({ type: 'TOGGLE'})">
+  <button @click="send({ type: 'TOGGLE' })">
     {{
       state.value === 'inactive'
         ? 'Click to activate'