diff --git a/README.md b/README.md
index 81762e4..25face9 100644
--- a/README.md
+++ b/README.md
@@ -31,7 +31,7 @@ Transports
 
 * Ethernet: unicast and multicast on ESP8266 and ESP32
 * UDP/IPv4: unicast and multicast on ESP8266 and ESP32
-* UDP/IPv6: unicast on ESP8266
+* UDP/IPv6: unicast on ESP8266 and ESP32
 * [Bluetooth Low Energy](https://github.com/yoursunny/NDNts/tree/main/pkg/web-bluetooth-transport): server/peripheral only on ESP32 and nRF52
 
 KeyChain
diff --git a/src/transport/udp-transport.cpp b/src/transport/udp-transport.cpp
index 4f24c3d..06313ac 100644
--- a/src/transport/udp-transport.cpp
+++ b/src/transport/udp-transport.cpp
@@ -31,7 +31,9 @@ UdpTransport::beginListen(uint16_t localPort, IPAddress localIp) {
   bool ok = m_udp.begin(localPort);
 #elif defined(ARDUINO_ARCH_ESP32)
   LOG(F("listening on ") << localIp << ':' << _DEC(localPort));
-  bool ok = m_udp.begin(localIp, localPort);
+  bool ok = localIp.type() == IPType::IPv4 && uint32_t(localIp) == 0
+              ? m_udp.begin(localPort)
+              : m_udp.begin(localIp, localPort);
 #endif
   if (ok) {
     m_mode = Mode::LISTEN;
@@ -43,7 +45,11 @@ bool
 UdpTransport::beginTunnel(IPAddress remoteIp, uint16_t remotePort, uint16_t localPort) {
   end();
   LOG(F("connecting to ") << remoteIp << ':' << remotePort << F(" from :") << _DEC(localPort));
-  bool ok = m_udp.begin(localPort);
+  bool ok =
+#if defined(ARDUINO_ARCH_ESP32) && LWIP_IPV6
+    remoteIp.type() == IPType::IPv6 ? m_udp.begin(IN6ADDR_ANY, localPort) :
+#endif
+                                    m_udp.begin(localPort);
   if (ok) {
     m_mode = Mode::TUNNEL;
     m_ip = remoteIp;
@@ -98,10 +104,20 @@ UdpTransport::doLoop() {
     } else {
       IPAddress ip = m_udp.remoteIP();
       uint16_t port = m_udp.remotePort();
-#if defined(ARDUINO_ARCH_ESP8266) && LWIP_IPV6
+#if LWIP_IPV6
+#if defined(ARDUINO_ARCH_ESP8266)
       if (ip.isV6()) {
         endpointId = m_endpoints.encode(reinterpret_cast<const uint8_t*>(ip.raw6()), 16, port);
       } else
+#elif defined(ARDUINO_ARCH_ESP32)
+      if (ip.type() == IPType::IPv6) {
+        uint8_t addr[16];
+        for (int i = 0; i < 16; ++i) {
+          addr[i] = ip[i];
+        }
+        endpointId = m_endpoints.encode(addr, 16, port);
+      } else
+#endif
 #endif
       {
         uint32_t ip4 = ip;
@@ -155,9 +171,13 @@ UdpTransport::doSend(const uint8_t* pkt, size_t pktLen, uint64_t endpointId) {
       case 4:
         ip = addr;
         break;
-#if defined(ARDUINO_ARCH_ESP8266) && LWIP_IPV6
+#if LWIP_IPV6
       case 16:
+#if defined(ARDUINO_ARCH_ESP8266)
         std::copy_n(addr, addrLen, reinterpret_cast<uint8_t*>(ip.raw6()));
+#elif defined(ARDUINO_ARCH_ESP32)
+        ip = IPAddress(IPType::IPv6, addr);
+#endif
         break;
 #endif
       default:
diff --git a/src/transport/udp-transport.hpp b/src/transport/udp-transport.hpp
index de18514..82925a1 100644
--- a/src/transport/udp-transport.hpp
+++ b/src/transport/udp-transport.hpp
@@ -43,17 +43,15 @@ class UdpTransport : public virtual ndnph::Transport {
    * @param localPort local port.
    * @param localIp local interface address (ESP32 only).
    *
-   * IPv6 is supported on ESP8266 only. Up to four simultaneous IPv6 EndpointIds can be tracked.
+   * Up to four simultaneous IPv6 EndpointIds can be tracked.
    */
-  bool beginListen(uint16_t localPort = 6363, IPAddress localIp = IPAddress(0, 0, 0, 0));
+  bool beginListen(uint16_t localPort = 6363, IPAddress localIp = IPAddress());
 
   /**
    * @brief Establish a UDP tunnel to a remote endpoint.
    * @param remoteIp remote host address.
    * @param remotePort remote port.
    * @param localPort local port.
-   *
-   * IPv6 is supported on ESP8266 only.
    */
   bool beginTunnel(IPAddress remoteIp, uint16_t remotePort = 6363, uint16_t localPort = 6363);
 
@@ -62,7 +60,7 @@ class UdpTransport : public virtual ndnph::Transport {
    * @param localIp local interface address (ESP8266 only).
    * @param groupPort group port.
    */
-  bool beginMulticast(IPAddress localIp = IPAddress(0, 0, 0, 0), uint16_t groupPort = 56363);
+  bool beginMulticast(IPAddress localIp = IPAddress(), uint16_t groupPort = 56363);
 
   /** @brief Disable the transport. */
   void end();
@@ -96,7 +94,7 @@ class UdpTransport : public virtual ndnph::Transport {
   std::unique_ptr<uint8_t[]> m_ownBuf;
 
   WiFiUDP m_udp;
-#if defined(ARDUINO_ARCH_ESP8266) && LWIP_IPV6
+#if LWIP_IPV6
   using EndpointIdHelper = ndnph::port_transport_socket::Ipv6EndpointIdHelper<4>;
 #else
   using EndpointIdHelper = ndnph::port_transport_socket::Ipv6EndpointIdHelper<1>;