diff --git a/src/app/CommandSender.cpp b/src/app/CommandSender.cpp
index af317f76003900..fe263eb8923cc7 100644
--- a/src/app/CommandSender.cpp
+++ b/src/app/CommandSender.cpp
@@ -537,6 +537,18 @@ CHIP_ERROR CommandSender::FinishCommand(FinishCommandParameters & aFinishCommand
     return FinishCommandInternal(aFinishCommandParams);
 }
 
+CHIP_ERROR CommandSender::AddRequestData(const CommandPathParams & aCommandPath, const DataModel::EncodableToTLV & aEncodable,
+                                         AddRequestDataParameters & aAddRequestDataParams)
+{
+    PrepareCommandParameters prepareCommandParams(aAddRequestDataParams);
+    ReturnErrorOnFailure(PrepareCommand(aCommandPath, prepareCommandParams));
+    TLV::TLVWriter * writer = GetCommandDataIBTLVWriter();
+    VerifyOrReturnError(writer != nullptr, CHIP_ERROR_INCORRECT_STATE);
+    ReturnErrorOnFailure(aEncodable.EncodeTo(*writer, TLV::ContextTag(CommandDataIB::Tag::kFields)));
+    FinishCommandParameters finishCommandParams(aAddRequestDataParams);
+    return FinishCommand(finishCommandParams);
+}
+
 CHIP_ERROR CommandSender::FinishCommandInternal(FinishCommandParameters & aFinishCommandParams)
 {
     CHIP_ERROR err = CHIP_NO_ERROR;
diff --git a/src/app/CommandSender.h b/src/app/CommandSender.h
index 25603b3a1f3787..5542d2469bb743 100644
--- a/src/app/CommandSender.h
+++ b/src/app/CommandSender.h
@@ -33,6 +33,7 @@
 #include <app/MessageDef/InvokeResponseMessage.h>
 #include <app/MessageDef/StatusIB.h>
 #include <app/PendingResponseTrackerImpl.h>
+#include <app/data-model/EncodableToTLV.h>
 #include <app/data-model/Encode.h>
 #include <lib/core/CHIPCore.h>
 #include <lib/core/Optional.h>
@@ -375,6 +376,22 @@ class CommandSender final : public Messaging::ExchangeDelegate
 
     TLV::TLVWriter * GetCommandDataIBTLVWriter();
 
+    /**
+     * API for adding request data using DataModel::EncodableToTLV.
+     *
+     * @param [in] aCommandPath The path of the command being requested.
+     * @param [in] aEncodable The request data to encode into the
+     *             `CommandFields` member of `CommandDataIB`.
+     * @param [in] aAddRequestDataParams parameters associated with building the
+     *             InvokeRequestMessage that are associated with this request.
+     *
+     * This API will not fail if this is an untimed invoke but the command provided requires a timed
+     * invoke interaction. If the caller wants that to fail before sending the command, they should call
+     * the templated version of AddRequestData.
+     */
+    CHIP_ERROR AddRequestData(const CommandPathParams & aCommandPath, const DataModel::EncodableToTLV & aEncodable,
+                              AddRequestDataParameters & aAddRequestDataParams);
+
     /**
      * API for adding a data request.  The template parameter T is generally
      * expected to be a ClusterName::Commands::CommandName::Type struct, but any
@@ -391,15 +408,18 @@ class CommandSender final : public Messaging::ExchangeDelegate
         return AddRequestData(aCommandPath, aData, addRequestDataParams);
     }
 
-    template <typename CommandDataT>
+    template <typename CommandDataT,
+              typename std::enable_if_t<!std::is_base_of_v<DataModel::EncodableToTLV, CommandDataT>, int> = 0>
     CHIP_ERROR AddRequestData(const CommandPathParams & aCommandPath, const CommandDataT & aData,
                               AddRequestDataParameters & aAddRequestDataParams)
     {
         VerifyOrReturnError(!CommandDataT::MustUseTimedInvoke() || aAddRequestDataParams.timedInvokeTimeoutMs.HasValue(),
                             CHIP_ERROR_INVALID_ARGUMENT);
 
-        return AddRequestDataInternal(aCommandPath, aData, aAddRequestDataParams);
+        DataModel::EncodableType<CommandDataT> encodable(aData);
+        return AddRequestData(aCommandPath, encodable, aAddRequestDataParams);
     }
+
     template <typename CommandDataT>
     CHIP_ERROR AddRequestData(const CommandPathParams & aCommandPath, const CommandDataT & aData,
                               const Optional<uint16_t> & aTimedInvokeTimeoutMs)
@@ -426,7 +446,8 @@ class CommandSender final : public Messaging::ExchangeDelegate
     CHIP_ERROR TestOnlyAddRequestDataNoTimedCheck(const CommandPathParams & aCommandPath, const CommandDataT & aData,
                                                   AddRequestDataParameters & aAddRequestDataParams)
     {
-        return AddRequestDataInternal(aCommandPath, aData, aAddRequestDataParams);
+        DataModel::EncodableType<CommandDataT> encodable(aData);
+        return AddRequestData(aCommandPath, encodable, aAddRequestDataParams);
     }
 
     CHIP_ERROR TestOnlyFinishCommand(FinishCommandParameters & aFinishCommandParams)
@@ -448,19 +469,6 @@ class CommandSender final : public Messaging::ExchangeDelegate
 #endif // CONFIG_BUILD_FOR_HOST_UNIT_TEST
 
 private:
-    template <typename CommandDataT>
-    CHIP_ERROR AddRequestDataInternal(const CommandPathParams & aCommandPath, const CommandDataT & aData,
-                                      AddRequestDataParameters & aAddRequestDataParams)
-    {
-        PrepareCommandParameters prepareCommandParams(aAddRequestDataParams);
-        ReturnErrorOnFailure(PrepareCommand(aCommandPath, prepareCommandParams));
-        TLV::TLVWriter * writer = GetCommandDataIBTLVWriter();
-        VerifyOrReturnError(writer != nullptr, CHIP_ERROR_INCORRECT_STATE);
-        ReturnErrorOnFailure(DataModel::Encode(*writer, TLV::ContextTag(CommandDataIB::Tag::kFields), aData));
-        FinishCommandParameters finishCommandParams(aAddRequestDataParams);
-        return FinishCommand(finishCommandParams);
-    }
-
     CHIP_ERROR FinishCommandInternal(FinishCommandParameters & aFinishCommandParams);
 
 public: