This document presents a framework for sustainable energy access planning (SEAP). Key components of the SEAP framework include assessing energy demand, available resources, sustainability of options, costs, affordability, and benefits. The framework is applied in a case study of Pyuthan District, Nepal. Demand projections show increased electricity access over time. Large hydro and improved cookstoves are identified as most sustainable options. Cost assessments find least-cost solutions and investment needs. Affordability analysis determines subsidy requirements. Health, economic, and environmental benefits of access are quantified. The SEAP framework provides a holistic approach to planning sustainable energy access programs.