diff --git a/docs/services/ml/_index.md b/docs/services/ml/_index.md
index 8dc3bdf771..b811ec9ac0 100644
--- a/docs/services/ml/_index.md
+++ b/docs/services/ml/_index.md
@@ -147,6 +147,179 @@ In the absence of metadata, your `.tflite_cpu` model must satisfy the following
 These requirements are satisfied by a few publicly available model architectures including EfficientDet, MobileNet, and SSD MobileNet V1.
 You can use one of these architectures or build your own.
 
+## API
+
+The MLModel service supports the following methods:
+
+{{< readfile "/static/include/services/apis/ml.md" >}}
+
+{{% alert title="Tip" color="tip" %}}
+
+The following code examples assume that you have a robot configured with an `MLModel` service, and that you add the required code to connect to your robot and import any required packages at the top of your code file.
+Go to your robot's **Code Sample** tab on the [Viam app](https://app.viam.com) for boilerplate code to connect to your robot.
+
+{{% /alert %}}
+
+### Infer
+
+Take an already ordered input tensor as an array, make an inference on the model, and return an output tensor map.
+
+{{< tabs >}}
+{{% tab name="Go" %}}
+
+**Parameters:**
+
+- `ctx` [(Context)](https://pkg.go.dev/context): A Context carries a deadline, a cancellation signal, and other values across API boundaries.
+- `tensors` [(ml.Tensors)](https://pkg.go.dev/go.viam.com/rdk@v0.11.1/ml#Tensors): The input map of tensors, as specified in the metadata.
+
+**Returns:**
+
+- [(ml.Tensors)](https://pkg.go.dev/go.viam.com/rdk@v0.11.1/ml#Tensors): The output map of tensors, as specified in the metadata, after being run through an inference engine.
+- [(error)](https://pkg.go.dev/builtin#error): An error, if one occurred.
+
+For more information, see the [Go SDK Docs](https://pkg.go.dev/go.viam.com/rdk/services/mlmodel#Service).
+
+```go {class="line-numbers linkable-line-numbers"}
+myMLModel, err := mlmodel.FromRobot(robot, "my_mlmodel_service")
+
+input_tensors := ml.Tensors{"0": tensor.New(tensor.WithShape(1, 2, 3), tensor.WithBacking(6))}
+
+output_tensors, err := myMLModel.Infer(ctx.Background(), input_tensors)
+```
+
+{{% /tab %}}
+{{% tab name="Python" %}}
+
+**Parameters:**
+
+- `input_tensors` [(Dict[str, NDArray])](https://numpy.org/doc/stable/reference/generated/numpy.ndarray.html): A dictionary of input flat tensors, as specified in the metadata.
+- `timeout` [(Optional\[float\])](https://docs.python.org/library/typing.html#typing.Optional): An option to set how long to wait (in seconds) before calling a time-out and closing the underlying RPC call.
+
+**Returns:**
+
+- [(`Dict[str, NDArray]`)](https://numpy.org/doc/stable/reference/generated/numpy.ndarray.html): A dictionary of output flat tensors as specified in the metadata, after being run through an inference engine.
+
+For more information, see the [Python SDK Docs](https://python.viam.dev/autoapi/viam/services/mlmodel/client/index.html#viam.services.mlmodel.client.MLModelClient.infer).
+
+```python {class="line-numbers linkable-line-numbers"}
+import numpy as np
+
+my_mlmodel = MLModelClient.from_robot(robot=robot, name="my_mlmodel_service")
+
+nd_array = np.array([1, 2, 3], dtype=np.float64)
+input_tensors = {"0": nd_array}
+
+output_tensors = await my_mlmodel.infer(input_tensors)
+```
+
+{{% /tab %}}
+{{< /tabs >}}
+
+### Metadata
+
+Get the metadata: name, data type, expected tensor/array shape, inputs, and outputs associated with the ML model.
+
+{{< tabs >}}
+{{% tab name="Go" %}}
+
+**Parameters:**
+
+- `ctx` [(Context)](https://pkg.go.dev/context): A Context carries a deadline, a cancellation signal, and other values across API boundaries.
+
+**Returns:**
+
+- [(MLMetadata)](https://pkg.go.dev/go.viam.com/rdk@v0.11.1/services/mlmodel#MLMetadata): Struct containing the metadata of the model file, such as the name of the model, what kind of model it is, and the expected tensor/array shape and types of the inputs and outputs of the model.
+- [(error)](https://pkg.go.dev/builtin#error): An error, if one occurred.
+
+For more information, see the [Go SDK Docs](https://pkg.go.dev/go.viam.com/rdk/services/mlmodel#Service).
+
+```go {class="line-numbers linkable-line-numbers"}
+myMLModel, err := mlmodel.FromRobot(robot, "my_mlmodel_service")
+
+metadata, err := myMLModel.Metadata(ctx.Background())
+```
+
+{{% /tab %}}
+{{% tab name="Python" %}}
+
+**Parameters:**
+
+- `timeout` [(Optional\[float\])](https://docs.python.org/library/typing.html#typing.Optional): An option to set how long to wait (in seconds) before calling a time-out and closing the underlying RPC call.
+
+**Returns:**
+
+- [(`Metadata`)](https://python.viam.dev/autoapi/viam/gen/service/mlmodel/v1/mlmodel_pb2/index.html#viam.gen.service.mlmodel.v1.mlmodel_pb2.Metadata): Name, type, expected tensor/array shape, inputs, and outputs associated with the ML model.
+
+For more information, see the [Python SDK Docs](https://python.viam.dev/autoapi/viam/services/mlmodel/client/index.html#viam.services.mlmodel.client.MLModelClient.metadata).
+
+```python {class="line-numbers linkable-line-numbers"}
+my_mlmodel = MLModelClient.from_robot(robot=robot, name="my_mlmodel_service")
+
+metadata = await my_mlmodel.metadata()
+```
+
+{{% /tab %}}
+{{< /tabs >}}
+
+### DoCommand
+
+Execute model-specific commands that are not otherwise defined by the service API.
+For built-in service models, any model-specific commands available are covered with each model's documentation.
+If you are implementing your own navigation service and add features that have no built-in API method, you can access them with `DoCommand`.
+
+{{< tabs >}}
+{{% tab name="Go" %}}
+
+**Parameters:**
+
+- `ctx` [(Context)](https://pkg.go.dev/context): A Context carries a deadline, a cancellation signal, and other values across API boundaries.
+- `cmd` [(map\[string\]interface{})](https://go.dev/blog/maps): The command to execute.
+
+**Returns:**
+
+- [(map\[string\]interface{})](https://go.dev/blog/maps): Result of the executed command.
+- [(error)](https://pkg.go.dev/builtin#error): An error, if one occurred.
+
+```go {class="line-numbers linkable-line-numbers"}
+myMLModel, err := mlmodel.FromRobot(robot, "my_mlmodel_service")
+
+resp, err := myMLModel.DoCommand(ctx, map[string]interface{}{"command": "dosomething", "someparameter": 52})
+```
+
+For more information, see the [Go SDK Docs](https://pkg.go.dev/go.viam.com/rdk/resource#Resource).
+
+{{% /tab %}}
+{{% tab name="Python" %}}
+
+**Parameters:**
+
+- `command` [(Mapping[str, ValueTypes])](https://docs.python.org/3/library/stdtypes.html#typesmapping): The command to execute.
+- `timeout` [(Optional\[float\])](https://docs.python.org/library/typing.html#typing.Optional): An option to set how long to wait (in seconds) before calling a time-out and closing the underlying RPC call.
+
+**Returns:**
+
+- [(Mapping[str, ValueTypes])](https://docs.python.org/3/library/stdtypes.html#typesmapping): Result of the executed command.
+
+**Raises:**
+
+- `NotImplementedError`: Raised if the Resource does not support arbitrary commands.
+
+```python {class="line-numbers linkable-line-numbers"}
+my_mlmodel = MLModelClient.from_robot(robot=robot, name="my_mlmodel_service")
+
+my_command = {
+  "command": "dosomething",
+  "someparameter": 52
+}
+
+await my_mlmodel.do_command(my_command)
+```
+
+For more information, see the [Python SDK Docs](https://python.viam.dev/autoapi/viam/services/mlmodel/client/index.html#viam.services.mlmodel.client.MLModelClient.do_command).
+
+{{% /tab %}}
+{{< /tabs >}}
+
 ## Use the ML model service with the Viam Python SDK
 
 To use the ML model service from the [Viam Python SDK](https://python.viam.dev/), install the Python SDK using the `mlmodel` extra:
diff --git a/static/include/services/apis/ml.md b/static/include/services/apis/ml.md
index a52f7324d9..6ea0e95dcd 100644
--- a/static/include/services/apis/ml.md
+++ b/static/include/services/apis/ml.md
@@ -2,3 +2,4 @@ Method Name | Description
 ----------- | -----------
 `Infer` | Take an already ordered input tensor as an array, make an inference on the model, and return an output tensor map.
 `Metadata`| Get the metadata (such as name, type, expected tensor/array shape, inputs, and outputs) associated with the ML model.
+`DoCommand` | Send arbitrary commands to the resource.