diff --git a/rclpy/rclpy/executors.py b/rclpy/rclpy/executors.py
index 3e099d8fa..5d45b431d 100644
--- a/rclpy/rclpy/executors.py
+++ b/rclpy/rclpy/executors.py
@@ -12,8 +12,10 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
+from collections import deque
 from concurrent.futures import ThreadPoolExecutor
 from contextlib import ExitStack
+from dataclasses import dataclass
 import inspect
 import os
 from threading import Condition
@@ -25,6 +27,8 @@
 from typing import Callable
 from typing import ContextManager
 from typing import Coroutine
+from typing import Deque
+from typing import Dict
 from typing import Generator
 from typing import List
 from typing import Optional
@@ -150,6 +154,12 @@ def timeout(self, timeout):
         self._timeout = timeout
 
 
+@dataclass
+class TaskData:
+    source_node: 'Optional[Node]' = None
+    source_entity: 'Optional[WaitableEntityType]' = None
+
+
 class Executor(ContextManager['Executor']):
     """
     The base class for an executor.
@@ -179,8 +189,10 @@ def __init__(self, *, context: Optional[Context] = None) -> None:
         self._context = get_default_context() if context is None else context
         self._nodes: Set[Node] = set()
         self._nodes_lock = RLock()
-        # Tasks to be executed (oldest first) 3-tuple Task, Entity, Node
-        self._tasks: List[Tuple[Task, Optional[WaitableEntityType], Optional[Node]]] = []
+        # all tasks that are not complete or canceled
+        self._pending_tasks: Dict[Task, TaskData] = {}
+        # tasks that are ready to execute
+        self._ready_tasks: Deque[Task] = deque()
         self._tasks_lock = Lock()
         # This is triggered when wait_for_ready_callbacks should rebuild the wait list
         self._guard = GuardCondition(
@@ -214,11 +226,21 @@ def create_task(self, callback: Union[Callable, Coroutine], *args, **kwargs) ->
         """
         task = Task(callback, args, kwargs, executor=self)
         with self._tasks_lock:
-            self._tasks.append((task, None, None))
-            self._guard.trigger()
-        # Task inherits from Future
+            self._pending_tasks[task] = TaskData()
+        self._call_task_in_next_spin(task)
         return task
 
+    def _call_task_in_next_spin(self, task: Task) -> None:
+        """
+        Add a task to the executor to be executed in the next spin.
+
+        :param task: A task to be run in the executor.
+        """
+        with self._tasks_lock:
+            self._ready_tasks.append(task)
+            if self._guard:
+                self._guard.trigger()
+
     def create_future(self) -> Future:
         """Create a Future object attached to the Executor."""
         return Future(executor=self)
@@ -544,7 +566,10 @@ async def handler(entity, gc, is_shutdown, work_tracker):
             handler, (entity, self._guard, self._is_shutdown, self._work_tracker),
             executor=self)
         with self._tasks_lock:
-            self._tasks.append((task, entity, node))
+            self._pending_tasks[task] = TaskData(
+                source_entity=entity,
+                source_node=node
+            )
         return task
 
     def can_execute(self, entity: WaitableEntityType) -> bool:
@@ -588,21 +613,25 @@ def _wait_for_ready_callbacks(
                 nodes_to_use = self.get_nodes()
 
             # Yield tasks in-progress before waiting for new work
-            tasks = None
             with self._tasks_lock:
-                tasks = list(self._tasks)
-            if tasks:
-                for task, entity, node in reversed(tasks):
-                    if (not task.executing() and not task.done() and
-                            (node is None or node in nodes_to_use)):
-                        yielded_work = True
-                        yield task, entity, node
-                with self._tasks_lock:
-                    # Get rid of any tasks that are done
-                    self._tasks = list(filter(lambda t_e_n: not t_e_n[0].done(), self._tasks))
-                    # Get rid of any tasks that are cancelled
-                    self._tasks = list(filter(lambda t_e_n: not t_e_n[0].cancelled(), self._tasks))
-
+                # Get rid of any tasks that are done or cancelled
+                for task in list(self._pending_tasks.keys()):
+                    if task.done() or task.cancelled():
+                        del self._pending_tasks[task]
+
+                ready_tasks_count = len(self._ready_tasks)
+            for _ in range(ready_tasks_count):
+                task = self._ready_tasks.popleft()
+                task_data = self._pending_tasks[task]
+                node = task_data.source_node
+                if node is None or node in nodes_to_use:
+                    entity = task_data.source_entity
+                    yielded_work = True
+                    yield task, entity, node
+                else:
+                    # Asked not to execute these tasks, so don't do them yet
+                    with self._tasks_lock:
+                        self._ready_tasks.append(task)
             # Gather entities that can be waited on
             subscriptions: List[Subscription] = []
             guards: List[GuardCondition] = []
diff --git a/rclpy/rclpy/task.py b/rclpy/rclpy/task.py
index 9fd1504b7..1686da0e2 100644
--- a/rclpy/rclpy/task.py
+++ b/rclpy/rclpy/task.py
@@ -16,7 +16,7 @@
 import inspect
 import sys
 import threading
-from typing import Callable
+from typing import Any, Callable, Coroutine, Generator, Optional
 import warnings
 import weakref
 
@@ -58,10 +58,13 @@ def __del__(self):
                 'The following exception was never retrieved: ' + str(self._exception),
                 file=sys.stderr)
 
-    def __await__(self):
+    def __await__(self) -> Generator['Future', None, Optional[Any]]:
         # Yield if the task is not finished
-        while self._pending():
-            yield
+        if self._pending():
+            # This tells the task to suspend until the future is done
+            yield self
+        if self._pending():
+            raise RuntimeError('Future awaited a second time before it was done')
         return self.result()
 
     def _pending(self) -> bool:
@@ -264,16 +267,7 @@ def __call__(self):
             self._executing = True
 
             if inspect.iscoroutine(self._handler):
-                # Execute a coroutine
-                try:
-                    self._handler.send(None)
-                except StopIteration as e:
-                    # The coroutine finished; store the result
-                    self.set_result(e.value)
-                    self._complete_task()
-                except Exception as e:
-                    self.set_exception(e)
-                    self._complete_task()
+                self._execute_coroutine_step(self._handler)
             else:
                 # Execute a normal function
                 try:
@@ -286,7 +280,48 @@ def __call__(self):
         finally:
             self._task_lock.release()
 
-    def _complete_task(self):
+    def _execute_coroutine_step(self, coro: Coroutine) -> None:
+        """Execute or resume a coroutine task."""
+        try:
+            result = coro.send(None)
+        except StopIteration as e:
+            # The coroutine finished; store the result
+            self.set_result(e.value)
+            self._complete_task()
+        except Exception as e:
+            # The coroutine raised; store the exception
+            self.set_exception(e)
+            self._complete_task()
+        else:
+            # The coroutine yielded; suspend the task until it is resumed
+            executor = self._executor()
+            if executor is None:
+                raise RuntimeError(
+                    'Task tried to reschedule but no executor was set: '
+                    'tasks should only be initialized through executor.create_task()')
+            elif isinstance(result, Future):
+                # Schedule the task to resume when the future is done
+                self._add_resume_callback(result, executor)
+            elif result is None:
+                # The coroutine yielded None, schedule the task to resume in the next spin
+                executor._call_task_in_next_spin(self)
+            else:
+                raise TypeError(
+                    f'Expected coroutine to yield a Future or None, got: {type(result)}')
+
+    def _add_resume_callback(self, future: Future, executor) -> None:
+        future_executor = future._executor()
+        if future_executor is None:
+            # The future is not associated with an executor yet, so associate it with ours
+            future._set_executor(executor)
+        elif future_executor is not executor:
+            raise RuntimeError('A task can only await futures associated with the same executor')
+
+        # The future is associated with the same executor, so we can resume the task directly
+        # in the done callback
+        future.add_done_callback(lambda _: self.__call__())
+
+    def _complete_task(self) -> None:
         """Cleanup after task finished."""
         self._handler = None
         self._args = None
diff --git a/rclpy/src/rclpy/events_executor/events_executor.cpp b/rclpy/src/rclpy/events_executor/events_executor.cpp
index 99a4e911c..36fdb1eec 100644
--- a/rclpy/src/rclpy/events_executor/events_executor.cpp
+++ b/rclpy/src/rclpy/events_executor/events_executor.cpp
@@ -74,10 +74,15 @@ pybind11::object EventsExecutor::create_task(
   // manual refcounting on it instead.
   py::handle cb_task_handle = task;
   cb_task_handle.inc_ref();
-  events_queue_.Enqueue(std::bind(&EventsExecutor::IterateTask, this, cb_task_handle));
+  call_task_in_next_spin(task);
   return task;
 }
 
+void EventsExecutor::call_task_in_next_spin(pybind11::handle task)
+{
+  events_queue_.Enqueue(std::bind(&EventsExecutor::IterateTask, this, task));
+}
+
 pybind11::object EventsExecutor::create_future()
 {
   using py::literals::operator""_a;
@@ -163,8 +168,6 @@ void EventsExecutor::spin(std::optional<double> timeout_sec, bool stop_after_use
       throw std::runtime_error("Attempt to spin an already-spinning Executor");
     }
     stop_after_user_callback_ = stop_after_user_callback;
-    // Any blocked tasks may have become unblocked while we weren't looking.
-    PostOutstandingTasks();
     // Release the GIL while we block.  Any callbacks on the events queue that want to touch Python
     // will need to reacquire it though.
     py::gil_scoped_release gil_release;
@@ -346,8 +349,6 @@ void EventsExecutor::HandleSubscriptionReady(py::handle subscription, size_t num
       got_none = true;
     }
   }
-
-  PostOutstandingTasks();
 }
 
 void EventsExecutor::HandleAddedTimer(py::handle timer) {timers_manager_.AddTimer(timer);}
@@ -374,7 +375,6 @@ void EventsExecutor::HandleTimerReady(py::handle timer)
   } else if (stop_after_user_callback_) {
     events_queue_.Stop();
   }
-  PostOutstandingTasks();
 }
 
 void EventsExecutor::HandleAddedClient(py::handle client)
@@ -445,8 +445,6 @@ void EventsExecutor::HandleClientReady(py::handle client, size_t number_of_event
       }
     }
   }
-
-  PostOutstandingTasks();
 }
 
 void EventsExecutor::HandleAddedService(py::handle service)
@@ -509,8 +507,6 @@ void EventsExecutor::HandleServiceReady(py::handle service, size_t number_of_eve
       send_response(response, header);
     }
   }
-
-  PostOutstandingTasks();
 }
 
 void EventsExecutor::HandleAddedWaitable(py::handle waitable)
@@ -776,8 +772,6 @@ void EventsExecutor::HandleWaitableReady(
     // execute() is an async method, we need a Task to run it
     create_task(execute(data));
   }
-
-  PostOutstandingTasks();
 }
 
 void EventsExecutor::IterateTask(py::handle task)
@@ -810,26 +804,7 @@ void EventsExecutor::IterateTask(py::handle task)
         throw;
       }
     }
-  } else {
-    // Task needs more iteration.  Store the handle and revisit it later after the next ready
-    // entity which may unblock it.
-    // TODO(bmartin427) This matches the behavior of SingleThreadedExecutor and avoids busy
-    // looping, but I don't love it because if the task is waiting on something other than an rcl
-    // entity (e.g. an asyncio sleep, or a Future triggered from another thread, or even another
-    // Task), there can be arbitrarily long latency before some rcl activity causes us to go
-    // revisit that Task.
-    blocked_tasks_.push_back(task);
-  }
-}
-
-void EventsExecutor::PostOutstandingTasks()
-{
-  for (auto & task : blocked_tasks_) {
-    events_queue_.Enqueue(std::bind(&EventsExecutor::IterateTask, this, task));
   }
-  // Clear the entire outstanding tasks list.  Any tasks that need further iteration will re-add
-  // themselves during IterateTask().
-  blocked_tasks_.clear();
 }
 
 void EventsExecutor::HandleCallbackExceptionInNodeEntity(
@@ -888,6 +863,7 @@ void define_events_executor(py::object module)
   .def(py::init<py::object>(), py::arg("context"))
   .def_property_readonly("context", &EventsExecutor::get_context)
   .def("create_task", &EventsExecutor::create_task, py::arg("callback"))
+  .def("_call_task_in_next_spin", &EventsExecutor::call_task_in_next_spin, py::arg("task"))
   .def("create_future", &EventsExecutor::create_future)
   .def("shutdown", &EventsExecutor::shutdown, py::arg("timeout_sec") = py::none())
   .def("add_node", &EventsExecutor::add_node, py::arg("node"))
diff --git a/rclpy/src/rclpy/events_executor/events_executor.hpp b/rclpy/src/rclpy/events_executor/events_executor.hpp
index 7d67d20ad..6cd28845e 100644
--- a/rclpy/src/rclpy/events_executor/events_executor.hpp
+++ b/rclpy/src/rclpy/events_executor/events_executor.hpp
@@ -66,6 +66,7 @@ class EventsExecutor
   pybind11::object get_context() const {return rclpy_context_;}
   pybind11::object create_task(
     pybind11::object callback, pybind11::args args = {}, const pybind11::kwargs & kwargs = {});
+  void call_task_in_next_spin(pybind11::handle task);
   pybind11::object create_future();
   bool shutdown(std::optional<double> timeout_sec = {});
   bool add_node(pybind11::object node);
@@ -148,11 +149,6 @@ class EventsExecutor
   /// create_task() implementation for details.
   void IterateTask(pybind11::handle task);
 
-  /// Posts a call to IterateTask() for every outstanding entry in tasks_; should be invoked from
-  /// other Handle*Ready() methods to check if any asynchronous Tasks have been unblocked by the
-  /// newly-handled event.
-  void PostOutstandingTasks();
-
   void HandleCallbackExceptionInNodeEntity(
     const pybind11::error_already_set &, pybind11::handle entity,
     const std::string & node_entity_attr);
@@ -188,9 +184,6 @@ class EventsExecutor
   pybind11::set services_;
   pybind11::set waitables_;
 
-  /// Collection of asynchronous Tasks awaiting new events to further iterate.
-  std::vector<pybind11::handle> blocked_tasks_;
-
   /// Cache for rcl pointers underlying each waitables_ entry, because those are harder to retrieve
   /// than the other entity types.
   std::unordered_map<pybind11::handle, WaitableSubEntities, PythonHasher> waitable_entities_;
diff --git a/rclpy/test/test_executor.py b/rclpy/test/test_executor.py
index 1c7afb66c..b23e95858 100644
--- a/rclpy/test/test_executor.py
+++ b/rclpy/test/test_executor.py
@@ -277,6 +277,40 @@ async def coroutine():
                 self.assertTrue(future.done())
                 self.assertEqual('Sentinel Result', future.result())
 
+    def test_create_task_coroutine_yield(self) -> None:
+        self.assertIsNotNone(self.node.handle)
+        for cls in [SingleThreadedExecutor, EventsExecutor]:
+            with self.subTest(cls=cls):
+                executor = cls(context=self.context)
+                executor.add_node(self.node)
+
+                called1 = False
+                called2 = False
+
+                async def coroutine() -> str:
+                    nonlocal called1
+                    nonlocal called2
+                    called1 = True
+                    await asyncio.sleep(0)
+                    called2 = True
+                    return 'Sentinel Result'
+
+                future = executor.create_task(coroutine)
+                self.assertFalse(future.done())
+                self.assertFalse(called1)
+                self.assertFalse(called2)
+
+                executor.spin_once(timeout_sec=0)
+                self.assertFalse(future.done())
+                self.assertTrue(called1)
+                self.assertFalse(called2)
+
+                executor.spin_once(timeout_sec=1)
+                self.assertTrue(future.done())
+                self.assertTrue(called1)
+                self.assertTrue(called2)
+                self.assertEqual('Sentinel Result', future.result())
+
     def test_create_task_coroutine_cancel(self) -> None:
         self.assertIsNotNone(self.node.handle)
         for cls in [SingleThreadedExecutor, EventsExecutor]:
@@ -299,7 +333,39 @@ async def coroutine():
                 self.assertTrue(future.cancelled())
                 self.assertEqual(None, future.result())
 
-    def test_create_task_normal_function(self):
+    def test_create_task_coroutine_wake_from_another_thread(self) -> None:
+        self.assertIsNotNone(self.node.handle)
+
+        for cls in [SingleThreadedExecutor, MultiThreadedExecutor, EventsExecutor]:
+            with self.subTest(cls=cls):
+                executor = cls(context=self.context)
+                thread_future = executor.create_future()
+
+                async def coroutine():
+                    await thread_future
+
+                def future_thread():
+                    time.sleep(0.1)  # Simulate some work
+                    thread_future.set_result(None)
+
+                t = threading.Thread(target=future_thread)
+
+                coroutine_future = executor.create_task(coroutine)
+
+                start_time = time.perf_counter()
+
+                t.start()
+                executor.spin_until_future_complete(coroutine_future, timeout_sec=1.0)
+
+                end_time = time.perf_counter()
+
+                self.assertTrue(coroutine_future.done())
+
+                # The coroutine should take at least 0.1 seconds to complete because it waits for
+                # the thread to set the future but nowhere near the 1 second timeout
+                assert 0.1 <= end_time - start_time < 0.2
+
+    def test_create_task_normal_function(self) -> None:
         self.assertIsNotNone(self.node.handle)
         for cls in [SingleThreadedExecutor, EventsExecutor]:
             with self.subTest(cls=cls):
@@ -328,18 +394,12 @@ async def coro1():
                     await future2
                     return 'Sentinel Result 1'
 
+                future1 = executor.create_task(coro1)
+
                 async def coro2():
                     return 'Sentinel Result 2'
 
-                # We need to swap the order of the coroutines depending on the executor type
-                # This is nessessary because https://github.com/ros2/rclpy/pull/1304
-                # won't be backported to jazzy
-                if cls is SingleThreadedExecutor:
-                    future2 = executor.create_task(coro2)
-                    future1 = executor.create_task(coro1)
-                else:
-                    future1 = executor.create_task(coro1)
-                    future2 = executor.create_task(coro2)
+                future2 = executor.create_task(coro2)
 
                 # Coro1 is the 1st task, so it gets to await future2 in this spin
                 executor.spin_once(timeout_sec=0)
diff --git a/rclpy/test/test_task.py b/rclpy/test/test_task.py
index d94a74764..a8bbc6f0f 100644
--- a/rclpy/test/test_task.py
+++ b/rclpy/test/test_task.py
@@ -12,7 +12,6 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
-import asyncio
 import unittest
 
 from rclpy.task import Future
@@ -50,31 +49,7 @@ def func():
         self.assertTrue(t.done())
         self.assertEqual('Sentinel Result', t.result())
 
-    def test_coroutine(self):
-        called1 = False
-        called2 = False
-
-        async def coro():
-            nonlocal called1
-            nonlocal called2
-            called1 = True
-            await asyncio.sleep(0)
-            called2 = True
-            return 'Sentinel Result'
-
-        t = Task(coro)
-        t()
-        self.assertTrue(called1)
-        self.assertFalse(called2)
-
-        called1 = False
-        t()
-        self.assertFalse(called1)
-        self.assertTrue(called2)
-        self.assertTrue(t.done())
-        self.assertEqual('Sentinel Result', t.result())
-
-    def test_done_callback_scheduled(self):
+    def test_done_callback_scheduled(self) -> None:
         executor = DummyExecutor()
 
         t = Task(lambda: None, executor=executor)