diff --git a/bt/actions/bt_set_agent_property.cpp b/bt/actions/bt_set_agent_property.cpp
new file mode 100644
index 0000000..a204f98
--- /dev/null
+++ b/bt/actions/bt_set_agent_property.cpp
@@ -0,0 +1,68 @@
+/**
+ * bt_set_agent_property.cpp
+ * =============================================================================
+ * Copyright 2021-2023 Serhii Snitsaruk
+ *
+ * Use of this source code is governed by an MIT-style
+ * license that can be found in the LICENSE file or at
+ * https://opensource.org/licenses/MIT.
+ * =============================================================================
+ */
+
+#include "bt_set_agent_property.h"
+
+void BTSetAgentProperty::set_property_name(StringName p_prop) {
+	property_name = p_prop;
+	emit_changed();
+}
+
+void BTSetAgentProperty::set_value(Ref<BBVariant> p_value) {
+	value = p_value;
+	emit_changed();
+	if (Engine::get_singleton()->is_editor_hint() && value.is_valid()) {
+		value->connect(SNAME("changed"), Callable(this, SNAME("emit_changed")));
+	}
+}
+
+String BTSetAgentProperty::get_configuration_warning() const {
+	String warning = BTAction::get_configuration_warning();
+	if (!warning.is_empty()) {
+		warning += "\n";
+	}
+	if (property_name == StringName()) {
+		warning += "`property_name` should be assigned.\n";
+	}
+	if (!value.is_valid()) {
+		warning += "`value` should be assigned.\n";
+	}
+	return warning;
+}
+
+String BTSetAgentProperty::_generate_name() const {
+	if (property_name == StringName()) {
+		return "SetAgentProperty ???";
+	}
+
+	return vformat("Set agent.%s = %s", property_name,
+			value.is_valid() ? Variant(value) : Variant("???"));
+}
+
+int BTSetAgentProperty::_tick(double p_delta) {
+	ERR_FAIL_COND_V_MSG(property_name == StringName(), FAILURE, "BTSetAgentProperty: `property_name` is not set.");
+	ERR_FAIL_COND_V_MSG(!value.is_valid(), FAILURE, "BTSetAgentProperty: `value` is not set.");
+
+	bool r_valid;
+	get_agent()->set(property_name, value->get_value(get_agent(), get_blackboard()), &r_valid);
+	ERR_FAIL_COND_V_MSG(!r_valid, FAILURE, vformat("BTSetAgentProperty: Agent doesn't have property named \"%s\"", property_name));
+	return SUCCESS;
+}
+
+void BTSetAgentProperty::_bind_methods() {
+	ClassDB::bind_method(D_METHOD("set_property_name", "p_property_name"), &BTSetAgentProperty::set_property_name);
+	ClassDB::bind_method(D_METHOD("get_property_name"), &BTSetAgentProperty::get_property_name);
+	ClassDB::bind_method(D_METHOD("set_value", "p_value"), &BTSetAgentProperty::set_value);
+	ClassDB::bind_method(D_METHOD("get_value"), &BTSetAgentProperty::get_value);
+
+	ADD_PROPERTY(PropertyInfo(Variant::STRING_NAME, "property_name"), "set_property_name", "get_property_name");
+	ADD_PROPERTY(PropertyInfo(Variant::OBJECT, "value", PROPERTY_HINT_RESOURCE_TYPE, "BBVariant"), "set_value", "get_value");
+}
diff --git a/bt/actions/bt_set_agent_property.h b/bt/actions/bt_set_agent_property.h
new file mode 100644
index 0000000..5b7d8a8
--- /dev/null
+++ b/bt/actions/bt_set_agent_property.h
@@ -0,0 +1,45 @@
+/**
+ * bt_set_agent_property.h
+ * =============================================================================
+ * Copyright 2021-2023 Serhii Snitsaruk
+ *
+ * Use of this source code is governed by an MIT-style
+ * license that can be found in the LICENSE file or at
+ * https://opensource.org/licenses/MIT.
+ * =============================================================================
+ */
+
+#ifndef BT_SET_AGENT_PROPERTY_H
+#define BT_SET_AGENT_PROPERTY_H
+
+#include "modules/limboai/bt/actions/bt_action.h"
+
+#include "modules/limboai/blackboard/bb_param/bb_variant.h"
+
+#include "core/object/class_db.h"
+#include "core/object/object.h"
+
+class BTSetAgentProperty : public BTAction {
+	GDCLASS(BTSetAgentProperty, BTAction);
+
+private:
+	StringName property_name;
+	Ref<BBVariant> value;
+
+protected:
+	static void _bind_methods();
+
+	virtual String _generate_name() const override;
+	virtual int _tick(double p_delta) override;
+
+public:
+	virtual String get_configuration_warning() const override;
+
+	void set_property_name(StringName p_prop);
+	StringName get_property_name() const { return property_name; }
+
+	void set_value(Ref<BBVariant> p_value);
+	Ref<BBVariant> get_value() const { return value; }
+};
+
+#endif // BT_SET_AGENT_PROPERTY
\ No newline at end of file
diff --git a/config.py b/config.py
index 41cb6df..8ddd132 100644
--- a/config.py
+++ b/config.py
@@ -87,6 +87,7 @@ def get_doc_classes():
         "BTRunLimit",
         "BTSelector",
         "BTSequence",
+        "BTSetAgentProperty",
         "BTSetVar",
         "BTState",
         "BTSubtree",
diff --git a/register_types.cpp b/register_types.cpp
index 67400ba..80a3074 100644
--- a/register_types.cpp
+++ b/register_types.cpp
@@ -48,6 +48,7 @@
 #include "bt/actions/bt_console_print.h"
 #include "bt/actions/bt_fail.h"
 #include "bt/actions/bt_random_wait.h"
+#include "bt/actions/bt_set_agent_property.h"
 #include "bt/actions/bt_set_var.h"
 #include "bt/actions/bt_wait.h"
 #include "bt/actions/bt_wait_ticks.h"
@@ -142,6 +143,7 @@ void initialize_limboai_module(ModuleInitializationLevel p_level) {
 		GDREGISTER_CLASS(BTFail);
 		GDREGISTER_CLASS(BTNewScope);
 		GDREGISTER_CLASS(BTRandomWait);
+		GDREGISTER_CLASS(BTSetAgentProperty);
 		GDREGISTER_CLASS(BTSetVar);
 		GDREGISTER_CLASS(BTSubtree);
 		GDREGISTER_CLASS(BTWait);