Inclusion in formal classroom environments continues to be a major focus in higher education, but there has been less emphasis on inclusive instructor-student mentorship, which has a significant impact and can have a number of positive outcomes for learners. In this article, we describe major principles of inclusive mentorship, as well as models and structures that support inclusion. We explore specific topics such as the positionalities and mindsets of inclusive mentors, values, and intentions, the power of formal and informal mentorship structures, and the critical role of constellation mentorship. We highlight recommended practices for mentoring diverse learners through three case examples that collectively span the undergraduate, graduate, and pre-professional levels. These case examples draw upon the rich experiences of co-authors who have mentored a number of students and trainees, won mentorship awards, successfully founded and led mentorship programs, and studied effective mentorship practices. This topic fills an important gap in the literature, by addressing and providing evidence-based practices that support inclusive mentorship.